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Whole-Body Walking Generation using Contact Parametrization..:

, In: 2020 IEEE International Conference on Robotics and Automation (ICRA),
Dafarra, Stefano ; Romualdi, Giulio ; Metta, Giorgio. - p. 1511-1517 , 2020
Link: https://doi.org/10.1109/ICRA40945.2020.9196801