Published in
Springer Verlag, Multibody System Dynamics, 4(42), p. 447-467
DOI: 10.1007/s11044-017-9605-4
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A 3D ellipsoidal volumetric foot–ground contact model for forward dynamics
Journal article published in 2017 by
Peter Brown 
,
John McPhee
,
John McPhee
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