@conference {36, title = {Simulation of robot dynamics for grasping and manipulation tasks}, booktitle = {12th IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, month = {Nov.}, isbn = {978-1-4673-1369-8}, author = {Beatriz Le{\'o}n and Javier Felip and Higinio Mart{\'\i} and Antonio Morales} }