M. R. Lavaei, M. J. Mahjoob, Amir Behjat. Derivation of the constraint equations in the kinematic modeling of legged robots with rigid semi-spherical feet. In 18th International Conference on Advanced Robotics, ICAR 2017, Hong Kong, China, July 10-12, 2017. pages 373-378, IEEE, 2017. [doi]
Abstract is missing.