Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results

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Authors: Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf

Journal title: Frontiers in Robotics and AI

Journal number: 3

Journal publisher: Frontiers

Published year: 2016

DOI identifier: 10.3389/frobt.2016.00016

ISSN: 2296-9144