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
Number of pages17
StatePublished - 2013

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