# A compact form dynamics controller for a high-DOF tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers

> Research article (Multibody System Dynamics, 2020) · cited 11× · AI/ML

**Wikidata**: [openalex:W3008885292](https://www.wikidata.org/wiki/openalex:W3008885292)  
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