Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. In 21st IEEE-RAS International Conference on Humanoid Robots, Humanoids 2022, Ginowan, Japan, November 28-30, 2022. pages 512-517, IEEE, 2022. [doi]
Abstract is missing.