Using torque redundancy to optimize contact forces in legged robots.

Ludovic Righetti, Jonas Buchli, M. Mistry, M. Kalakrishnan, S Schaal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish (US)
Title of host publicationRedundancy in Robot Manipulators and Multi-Robot Systems
Place of PublicationSpringer
Pages35-51
Number of pages17
StatePublished - 2013

Cite this

Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., & Schaal, S. (2013). Using torque redundancy to optimize contact forces in legged robots. In Redundancy in Robot Manipulators and Multi-Robot Systems (pp. 35-51).