DOI 10.1007/s10514-007-9051-x A unifying framework for robot control with redundant DOFs (2009)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal, J. Peters, ...
2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-offreedom (DOFs) using a generalization of Gauss ’ principle of least constraint. This...
A unifying framework for robot control with redundant DOFs (2007)
Peters, J., Mistry, M., Udwadia, F., Nakanishi, J., Schaal, S.
Recently, Udwadia (Proc. R. Soc. Lond. A 2003:17831800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of...