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Whole-Body Admittance Control of Anti-Saturation for Quadruped Manipulators with Impact Force Observer

Fenghao Lin, Tianlin Zhang, Xiaogang Xiong, Yunjiang Lou. Whole-Body Admittance Control of Anti-Saturation for Quadruped Manipulators with Impact Force Observer. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025. pages 14226-14233, IEEE, 2025. [doi]

Authors

Fenghao Lin

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Tianlin Zhang

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Xiaogang Xiong

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Yunjiang Lou

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