Humanoid Realistic Simulator - The Servomotor Joint Modeling. Lima, J. L., Gonçalves, J. A., Costa, P. G., & Moreira, A. P. In Filipe, J., Andrade-Cetto, J., & Ferrier, J., editors, ICINCO 2009, Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics, Volume Robotics and Automation, Milan, Italy, July 2-5, 2009, pages 396–400, 2009. INSTICC Press.
bibtex   
@inproceedings{DBLP:conf/icinco/LimaGCM09,
  author    = {Jos{\'{e}} Lu{\'{\i}}s Lima and
               Jos{\'{e}} Alexandre Gon{\c{c}}alves and
               Paulo Gomes Costa and
               Ant{\'{o}}nio Paulo Moreira},
  editor    = {Joaquim Filipe and
               Juan Andrade{-}Cetto and
               Jean{-}Louis Ferrier},
  title     = {Humanoid Realistic Simulator - The Servomotor Joint Modeling},
  booktitle = {{ICINCO} 2009, Proceedings of the 6th International Conference on
               Informatics in Control, Automation and Robotics, Volume Robotics and
               Automation, Milan, Italy, July 2-5, 2009},
  pages     = {396--400},
  publisher = {{INSTICC} Press},
  year      = {2009},
  timestamp = {Wed, 08 Apr 2020 01:00:00 +0200},
  biburl    = {https://dblp.org/rec/conf/icinco/LimaGCM09.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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