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Inverse dynamics control of floating-base robots with external constraints: A unified view.
Ludovic Righetti
Jonas Buchli
Michael N. Mistry
Stefan Schaal
Published in:
ICRA (2011)
Keyphrases
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inverse dynamics
robotic systems
robot control
nonlinear systems
mobile robot
industrial robots
parallel manipulator
dead zone
autonomous robots
neural network
control system
physical constraints
legged robots
control strategies
adaptive control
control method
particle swarm optimization
evolutionary algorithm