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

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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