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x xx5wherextxtxdtandututudtIngeneralachievinguisnotpossibleduetoconstraintsimposedbytherobotdynamicsForexampleactuatorsaturationsandcontactfrictionpropertiescanlimi

@x x_x;(5)wherex(t)=x(t)xd(t)andu(t)=u(t)ud(t).Ingen-eral achievinguisnotpossibleduetoconstraintsimposedbytherobotdynamics.Forexample actuatorsaturationsandcontactfrictionpropertiescanlimi

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