On centroidal dynamics and integrability of average angular velocity. Saccon, A., Traversaro, S., Nori, F., & Nijmeijer, H. IEEE Robotics and Automation Letters, 2(2):943–950, IEEE, 2017.
bibtex   
@article{saccon2017centroidal,
  title={On centroidal dynamics and integrability of average angular velocity},
  author={Saccon, Alessandro and Traversaro, Silvio and Nori, Francesco and Nijmeijer, Henk},
  journal={IEEE Robotics and Automation Letters},
  volume={2},
  number={2},
  pages={943--950},
  year={2017},
  publisher={IEEE}
}

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