Enhancing Robot-Environment Physical Interaction via Optimal Impedance Profiles
© 2020 IEEE. Physical interaction of robots with their environment is a challenging problem because of the exchanged forces. Hybrid position/force control schemes often exhibit problems during the contact phase, whereas impedance control appears to be more simple and reliable, especially when impeda...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022
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| Online Access: | https://hdl.handle.net/1721.1/138816.2 |