Impedance and Interaction Control

  • Hogan N
  • Buerger S
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Abstract

Mechanical interactionwith objects is arguably one of the fundamentally important robot behaviors.Many current robot applications require it; for example, mechanical interaction is essential for manipulation, the core task of assembly systems. Future robot applications, such as versatile use of tools or close cooperation with humans, may be enabled by improved control of mechanical interaction.

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Authors

  • Neville Hogan

  • Stephen P. Buerger

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