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- Document type:
- Zeitschriftenaufsatz
- Author(s):
- Hamad, Mazin; Kurdas, Alexander; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami
- Title:
- Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots
- 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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