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Comparison of direct collocation optimal control to trajectory optimization for parameter identification of an ellipsoidal foot–ground contact model Mahdokht EzatiPeter BrownJohn McPhee OriginalPaper 20 March 2020 Pages: 71 - 93
Generalized Lagrange’s equations for systems with general constraints and distributed parameters Samir A. Emam OriginalPaper 02 October 2019 Pages: 95 - 117