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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
BibTeX
Occurrences:
- mediaTUM GesamtbestandHochschulbibliographie2024Integrated Research CentersMunich Institute of Robotics and Machine Intelligence (MIRMI) - The AI Mission Institute (AIM)
- mediaTUM GesamtbestandHochschulbibliographie2024Schools und FakultätenTUM School of Computation, Information and TechnologyRobotik und Systemintelligenz (Prof. Haddadin)
- mediaTUM GesamtbestandEinrichtungenSchools TUM School of Computation, Information and TechnologyDepartmentsComputer EngineeringRobotik und Systemintelligenz (Prof. Haddadin)