Whole-body Compliance Control for Quadruped Manipulator with Actuation Saturation of Joint Torque and Ground Friction

Published in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Recommended citation: T. Zhang, X. Peng, F. Lin, X. Xiong and Y. Lou, "Whole-body Compliance Control for Quadruped Manipulator with Actuation Saturation of Joint Torque and Ground Friction," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 11124-11131, doi: 10.1109/IROS58592.2024.10802754. https://ieeexplore.ieee.org/document/10802754