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Titel:

Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Hamad, Mazin; Kurdas, Alexander; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami
Stichworte:
Robots; Manipulators; Manipulator dynamics; Robot kinematics; Service robots; Safety; Collision avoidance; Human safety; mobile manipulators; precollision control; whole-body dynamics
Zeitschriftentitel:
IEEE Transactions on Robotics
Jahr:
2023
Band / Volume:
39
Heft / Issue:
4
Seitenangaben Beitrag:
3200-3221
Volltext / DOI:
doi:10.1109/TRO.2023.3257515
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