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Friedmann, M. and Petersen, K. and Stryk, Oskar von and Stryk, Oskar von (2009):
Adequate motion simulation and collision detection for soccer playing humanoid robots.
In: Robotics and Autonomous Systems, pp. 786-795, 57, (8), ISSN 0921-8890,
DOI: 10.1016/j.robot.2009.03.008,
[Online-Edition: http://dx.doi.org/10.1016/j.robot.2009.03.008],
[Article]

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