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
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Publication:2205186
DOI10.1007/S11044-020-09728-YzbMath1456.70021OpenAlexW3008885292MaRDI QIDQ2205186
Publication date: 20 October 2020
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-020-09728-y
Convex programming (90C25) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)
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