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  author =		 "Mistry, M. and Buchli, J. and Schaal, S.",
  year =		 "2010",
  title =		 "Inverse dynamics control of floating base systems using orthogonal decomposition",
  booktitle =		 "Robotics and Automation (ICRA), 2010 IEEE International Conference on",
  key =			 "closed loop systems
force control
humanoid robots
legged locomotion
robot dynamics
robot kinematics
torque control
approximate inverse dynamics solution
closed loop kinematics
constrained floating base rigid body systems
contact forces estimatio",
  URL =			 "",
  pages =		 "3406-3412",
  ISBN/ISSN =		 "1050-4729",
  crossref =		 "p10418"

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