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

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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