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Contact Force based Balancing and Tracking Control of a Ballbot using Projected Task Space Dynamics with Inequality Constraints.
Joonhee Jo
Yonghwan Oh
Published in:
UR (2020)
Keyphrases
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tracking control
inequality constraints
nonlinear systems
contact force
constrained optimization
interior point methods
control law
nonlinear programming
dynamic model
dynamic environments
dynamical systems
dynamic programming
fuzzy model
adaptive neural