Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra. Fonseca, M. D. P. A. & Adorno, B. V. In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), pages 103–108, oct, 2016. IEEE.
Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra [link]Paper  doi  bibtex   
@InProceedings{Fonseca2016,
  author        = {Fonseca, Mariana De Paula Assis and Adorno, Bruno Vilhena},
  title         = {{Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra}},
  booktitle     = {2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},
  year          = {2016},
  pages         = {103--108},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/LARS-SBR.2016.24},
  isbn          = {978-1-5090-3656-1},
  keywords      = {Humanoid robot,Kinematic control,Whole-body control},
  url           = {http://ieeexplore.ieee.org/document/7783510/},
}

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