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27
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ICRA
2007
IEEE
227
views
Robotics
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ICRA 2007
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Inverse Dynamics Control with Floating Base and Constraints
14 years 2 months ago
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www-slab.usc.edu
— In this paper, we address the issues of compliant control of a robot under contact constraints with a goal of using joint space based pattern generators as movement primitives,...
Jun Nakanishi, Michael Mistry, Stefan Schaal
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