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APA Citation
Giftthaler, M., Neunert, M., Stäuble, M., Frigerio, M., Semini, C., & Buchli, J. (2017). automatic differentiation of rigid body dynamics for optimal control and estimation. Advanced robotics, 31, 1225–1237. http://access.bl.uk/ark:/81055/vdc_100054918417.0x00004d