Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots
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Publication:2131103
DOI10.1007/S11044-021-09809-6zbMath1492.70015OpenAlexW4206515623MaRDI QIDQ2131103
Mohamed Fnadi, Wenqian Du, Faiz Benamar
Publication date: 25 April 2022
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-021-09809-6
Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)
Uses Software
Cites Work
- qpOASES: a parametric active-set algorithm for~quadratic programming
- A compact form dynamics controller for a high-DOF tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers
- Springer Handbook of Robotics
- Impedance Control: An Approach to Manipulation: Part I—Theory
- Robot Dynamics Algorithms
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