Mazin Hamad, Alexander Kurdas, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin. Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots. IEEE Transactions on Robotics, 39(4):3200-3221, August 2023. [doi]
Abstract is missing.