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Title:

A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload

Document type:
Zeitschriftenaufsatz
Author(s):
Samuel, Kangwagye; Haninger, Kevin; Oboe, Roberto; Haddadin, Sami; Oh, Sehoon
Keywords:
Robots; Payloads; Task analysis; Admittance control; Force; Manipulator dynamics; Dynamics; Compliance and impedance control; force control; Human-Robot Collaboration; motion control
Journal title:
IEEE Robotics and Automation Letters
Year:
2024
Pages contribution:
1-8
Fulltext / DOI:
doi:10.1109/LRA.2024.3406055
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