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Optimal distribution of contact forces with inverse-dynamics control.

Ludovic RighettiJonas BuchliMichael N. MistryMrinal KalakrishnanStefan Schaal
Published in: Int. J. Robotics Res. (2013)
Keyphrases
  • inverse dynamics
  • optimal control
  • parallel manipulator
  • dynamic programming
  • contact force
  • control system
  • learning algorithm
  • evolutionary algorithm
  • control method
  • control strategies
  • nonlinear systems