@INPROCEEDINGS{8511383, 
author={G. Antonelli and P. Di Lillo and C. Natale}, 
booktitle={2018 IEEE Conference on Control Technology and Applications (CCTA)}, 
title={Modeling Errors Analysis in Inverse Dynamics Approaches Within a Task-Priority Framework}, 
year={2018}, 
volume={}, 
number={}, 
pages={553-558}, 
keywords={humanoid robots;manipulator dynamics;manipulator kinematics;mobile robots;motion control;control algorithms;control theory;robotic applications;kinematic level;dynamic level;modeling errors analysis;robotic systems;inverse-kinematic approaches;inverse-dynamic approaches;humanoid;Task analysis;Robots;Torque;Aerospace electronics;Heuristic algorithms;Impedance;Jacobian matrices}, 
doi={10.1109/CCTA.2018.8511383}, 
ISSN={}, 
month={Aug},}