Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"

14 October 2014

Lorenzo Natale

Papers citing "Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics""

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Title
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics Alexander Herzog Ludovic Righetti F. Grimminger P. Pastor S. Schaal 60 149 0 09 May 2013