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Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses

Ferdinando A. Mussa-Ivaldi, Neville Hogan. Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses. In Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, USA, May 14-19, 1989. pages 283-288, IEEE, 1989. [doi]

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Ferdinando A. Mussa-Ivaldi

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Neville Hogan

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