Humanoid Motion Control by Compliance Optimization Explicitly Considering its Positive Definiteness
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DOI: 10.1109/tro.2021.3119934
Abstract: This article discusses a compliance optimization approach that satisfies positive definiteness. Physical human–robot interactions are an important topic in robotics, for which force or compliance control is a key technology. Operational space control (OSC) is… read more here.
Keywords: compliance; compliance optimization; control; positive definiteness ... See more keywords