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Operational Space Control of Multibody Systems with Explicit Holonomic Constraints

Vincent De Sapio, Oussama Khatib. Operational Space Control of Multibody Systems with Explicit Holonomic Constraints. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 2950-2956, IEEE, 2005.

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