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Morita, S. (2012) Trajectory Generation between Two Arbitrary States Based on Hamilton’s Principle—A Variable Substitution Method. International Journal of Humanoid Robotics, 9, 3.
http://www.worldscientific.com/doi/pdf/10.1142/So219843612500235
http://dx.doi.org/10.1142/S0219843612500235

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