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Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance

Xiangyu Chu, Chun Ho David Lo, Tommaso Proietti, Conor J. Walsh, Kwok Wai Samuel Au. Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance. IEEE Trans. Contr. Sys. Techn., 31(1):193-207, 2023. [doi]

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