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Dynamically consistent inverse kinematics framework using o..:

, In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids),
Futamure, S. ; Bonnet, V. ; Dumas, R... - p. 436-441 , 2016
Link: https://doi.org/10.1109/HUMANOIDS.2016.7803312