Whole-body cooperative force control for a two-armed and two-wheeled mobile robot using Generalized Inverse Dynamics and Idealized Joint Units.

Ken'ichiro Nagasaka, Yasunori Kawanami, Satoru Shimizu, Takashi Kito, Toshimitsu Tsuboi, Atsushi Miyamoto, Tetsuharu Fukushima, Hideki Shimomura

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