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Title:

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

Document type:
Zeitschriftenaufsatz
Author(s):
Hamad, Mazin; Kurdas, Alexander; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami
Keywords:
Robots; Manipulators; Manipulator dynamics; Robot kinematics; Service robots; Safety; Collision avoidance; Human safety; mobile manipulators; precollision control; whole-body dynamics
Journal title:
IEEE Transactions on Robotics
Year:
2023
Journal volume:
39
Journal issue:
4
Pages contribution:
3200-3221
Fulltext / DOI:
doi:10.1109/TRO.2023.3257515
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