Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots

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Bibliographic Details
Published in:Multibody system dynamics Vol. 54; no. 3; pp. 235 - 262
Main Authors: Du, Wenqian, Fnadi, Mohamed, Benamar, Faïz
Format: Journal Article
Language:English
Published: Springer Verlag 01-03-2022
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Description
ISSN:1384-5640
1573-272X
DOI:10.1007/s11044-021-09809-6