Per Henrik Borgstrom, Maxim A. Batalin, Gaurav S. Sukhatme, William J. Kaiser. Weighted barrier functions for computation of force distributions with friction cone constraints. In IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010. pages 785-792, IEEE, 2010. [doi]
Abstract is missing.