Task-space Whole-body Control with Variable Contact Force Control for Position-controlled Humanoid Adaptation to Unknown Disturbance

Zelin Huang, Chencheng Dong, Zhangguo Yu, Xuechao Chen, Fei Meng, Qiang Huang

Journal of Bionic Engineering . 2023, (5): 2069 -2087 . DOI: 10.1007/s42235-023-00378-2

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