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Within this workgroup we will implement some basic force controlled balancing controller. Topics related to this workgroup are:

  • Whole-body dynamics computation and estimation.
  • Compliance, impedance and force control.
  • Reaching and balancing tasks coordination.
  • Center of mass Jacobian computations.


  • Francesco Nori
  • Serena Ivaldi
  • Jorhabib Eljaik
  • Silvio Traversaro