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Symmetrical rigid body parameterizations for humanoid robots

Sipu Ruan, Jin Seob Kim, Gregory S. Chirikjian. Symmetrical rigid body parameterizations for humanoid robots. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, December 3-7, 2016. pages 1655-1661, IEEE, 2016. [doi]

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