Partial force control of constrained floating-base robots. Del Prete, A.; Mansard, N.; Nori, F.; Metta, G.; and Natale, L. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3227–3232, 2014. IEEE.
bibtex   
@inproceedings{del2014partial,
  title={Partial force control of constrained floating-base robots},
  author={Del Prete, Andrea and Mansard, Nicolas and Nori, Francesco and Metta, Giorgio and Natale, Lorenzo},
  booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={3227--3232},
  year={2014},
  organization={IEEE}
}
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