Oussama Khatib, Mikael Jorda, Jaeheung Park, Luis Sentis, Shu Yun Chung. Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance. I. J. Robotic Res., 41(13-14):1079-1098, 2022. [doi]
Abstract is missing.