Modeling & Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. Int. Conf. Robotics and Automation.. 2018.
A Comparison of Null-space Projection and Mixture of Torque Controllers for Motion Generation. Proc. 9th Int. Workshop on Human-Friendly Robotics.. 2016.
Multiple Task Optimization with a Mixture of Controllers for Motion Generation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). :6416–6421.. 2015.