Reactive Task Adaptation of a Dynamic System With External Disturbances Based on Invariance Control and Movement Primitives
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DOI: 10.1109/tcds.2021.3094982
Abstract: This article proposes a general control framework for robot physical contact tasks. To satisfy the tradeoff between safety and performance in the interaction between robots and the environment, multipriority control is regarded as a preemptive… read more here.
Keywords: movement primitives; invariance control; control; task ... See more keywords