@inproceedings{dallali2013development,
  title={Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach},
  author={Dallali, Houman and Mosadeghzad, Mohamad and Medrano-Cerda, Gustavo A and Docquier, Nicolas and Kormushev, Petar and Tsagarakis, Nikos and Li, Zhibin and Caldwell, Darwin},
  booktitle={Mechatronics (ICM), 2013 IEEE International Conference on},
  pages={598--603},
  year={2013},
  url = {https://kormushev.com/papers/Dallali_ICM-2013.pdf}
}