Stability analysis and design of momentum-based controllers for humanoid robots

Gabriele Nava, Francesco Romano, Francesco Nori, Daniele Pucci. Stability analysis and design of momentum-based controllers for humanoid robots. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016. pages 680-687, IEEE, 2016. [doi]

Abstract

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