Carlos Rengifo, Yannick Aoustin, Christine Chevallereau, Franck Plestan. A penalty-based approach for contact forces computation in bipedal robots. In 9th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2009, Paris, France, December 7-10, 2009. pages 121-127, IEEE, 2009. [doi]
Abstract is missing.