A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems
in Contact with the Ground: Theoretical background and Implementation Details

A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details

13 May 2024

Giuseppe L’Erario

Silvio Traversaro

Daniele Pucci Istituto Italiano di Tecnologia

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