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). Springer.

Using torque redundancy to optimize contact forces in legged robots. / Righetti, Ludovic; Buchli, Jonas; Mistry, M.; Kalakrishnan, M.; Schaal, S.

Redundancy in Robot Manipulators and Multi-Robot Systems. Springer, 2013. p. 35-51.

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

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. Springer, pp. 35-51.
Righetti L, Buchli J, Mistry M, Kalakrishnan M, Schaal S. Using torque redundancy to optimize contact forces in legged robots. In Redundancy in Robot Manipulators and Multi-Robot Systems. Springer. 2013. p. 35-51
Righetti, Ludovic ; Buchli, Jonas ; Mistry, M. ; Kalakrishnan, M. ; Schaal, S. / Using torque redundancy to optimize contact forces in legged robots. Redundancy in Robot Manipulators and Multi-Robot Systems. Springer, 2013. pp. 35-51
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