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Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics
Andrea Del Prete, Nicolas Mansard
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Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics
iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts
Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
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Prioritized Motion-Force Control of Constrained Fully-Actuated Robots: "Task Space Inverse Dynamics"
Andrea Del Prete, Francesco Nori, Giorgio Metta, Lorenzo Natale
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