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Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance

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]

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Oussama Khatib

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Mikael Jorda

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Jaeheung Park

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Luis Sentis

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Shu Yun Chung

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