Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

Rodrigo S. Jamisola Jr., Petar Kormushev, Rodney G. Roberts, Darwin G. Caldwell. Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian. Journal of Intelligent and Robotic Systems, 83(2):205-218, 2016. [doi]

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