Real-time zero moment point compensation method using null motion for mobile manipulators

@article{Kim2006RealtimeZM,
  title={Real-time zero moment point compensation method using null motion for mobile manipulators},
  author={Jinhyun Kim and Wan Kyun Chung},
  journal={Advanced Robotics},
  year={2006},
  volume={20},
  pages={581-593}
}

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