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  author =		 "Righetti, L. and Mistry, M. and Buchli, j. and Schaal, S.",
  year =		 "2011",
  title =		 "Inverse dynamics control of floating-base robots with external contraints: an unified view",
  booktitle =		 "2011 IEEE International Conference on Robotics and Automation (ICRA)",
  key =			 "inverse control, floating base, constraints, projection-based control",
  URL =			 "",
  crossref =		 "p10448"

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