Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots.

Mazin Hamad Alexander Kurdas Nico Mansfeld Saeed Abdolshah Sami Haddadin Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots. 3200-3221 2023 August 39 IEEE Trans. Robotics 4 https://doi.org/10.1109/TRO.2023.3257515 db/journals/trob/trob39.html#HamadKMAH23