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Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing

Aaron Greenfield, Alfred A. Rizzi, Howie Choset. Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 1947-1952, IEEE, 2005.

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