A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

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Authors: Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco

Journal title: http://arxiv.org/abs/1705.10635

Journal number: 15

Journal publisher: http://arxiv.org/abs/1705.10635

Published year: 2017