The Hardware Abstraction Layer - Supporting control design by tackling the complexity of humanoid robot hardware

Stefan Jörg, Jan Tully, Alin Albu-Schäffer. The Hardware Abstraction Layer - Supporting control design by tackling the complexity of humanoid robot hardware. In 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014. pages 6427-6433, IEEE, 2014. [doi]

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