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Optimal distribution of contact forces with inverse-dynamics control.
Ludovic Righetti
Jonas Buchli
Michael N. Mistry
Mrinal Kalakrishnan
Stefan Schaal
Published in:
Int. J. Robotics Res. (2013)
Keyphrases
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inverse dynamics
optimal control
parallel manipulator
dynamic programming
contact force
control system
learning algorithm
evolutionary algorithm
control method
control strategies
nonlinear systems