# Residual force polytope: Admissible task-space forces of dynamic trajectories

> Research article (Robotics and Autonomous Systems, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3041669071](https://www.wikidata.org/wiki/openalex:W3041669071)  
**Source**: https://4ort.xyz/entity/residual-force-polytope-admissible-task-space-forces-of-dynamic-trajectories