@article{1132,
  author = {Cameron Patrick Ridgewell and Robert J. Griffin and Tomonari Furukawa and Brian Y. Lattimer},
  title = {Online estimation of friction constraints for multi-contact whole body control},
  year = {2017},
  journal = {Unknown Journal},
  url = {https://doi.org/10.1109/humanoids.2017.8246896}
}

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