Contact force measurement noise in the partial feedback linearization control of humanoid robots

Douglas R. Isenberg, Michael A. Mclain, Y. P. Kakad. Contact force measurement noise in the partial feedback linearization control of humanoid robots. In 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010, Nashville, TN, USA, December 6-8, 2010. pages 257-262, IEEE, 2010. [doi]

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