Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott 0001, Andreas Kugi. Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications. IEEE Transactions on Robotics, 39(2):1439-1457, April 2023. [doi]
Abstract is missing.