Deflection-Domain Passivity Control of Variable Stiffnesses Based On Potential Energy Reference
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DOI: 10.1109/lra.2022.3147566
Abstract: With emerging capabilities, robots will advance gradually into human environments in the near future. Thereby, safety and robustness is currently tackled through intrinsically soft robotics or variable impedances, mainly stiffnesses. In teleoperation, for instance, the… read more here.
Keywords: based potential; passivity control; control; energy ... See more keywords