@CONFERENCE{m.arbulu2010aimingformultibody, TITLE = {Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups}, BOOKTITLE = {}, CONGRESS = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROSÂ’2010}, DATE = {2010-10-18 00:00:00}, CITY = {Taipei}, COUNTRY = {China}, ISBN = {978-1-4244-6676}, PUBLISHER = {}, PAGES = {691 - 697}, YEAR = {2010}, AUTHOR = {M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer} }