Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming
Author:
Affiliation:
1. The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China
Funder
Chinese University of Hong Kong
Research Grants Council (RGC) of Hong Kong
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10160211/10160212/10160835.pdf?arnumber=10160835
Reference18 articles.
1. An experimental study of robot control during environmental contacts based on projected operational space dynamics
2. Choosing stiffness and damping for optimal impedance planning;pollayil;IEEE Transactions on Robotics,2022
3. Operational Space Control Under Actuation Constraints Using Strictly Convex Optimization
4. Projected inverse dynamics control and optimal control for robots in contact with the environment: A comparison
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