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Fast and reasonable contact force computation in forward dynamics based on momentum-level penetration compensation

Naoki Wakisaka, Tomomichi Sugihara. Fast and reasonable contact force computation in forward dynamics based on momentum-level penetration compensation. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014. pages 2434-2439, IEEE, 2014. [doi]

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Naoki Wakisaka

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Tomomichi Sugihara

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