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Object impedance control using a closed-chain task definition
2010
2010 10th IEEE-RAS International Conference on Humanoid Robots
Humanoid robots are intended to interact with unstructured environments and to perform diverse applications. Often, such work involves manipulating an object cooperatively with multiple hands or fingers. This work presents an impedance based control framework for such cases with multipriority tasking. The primary task governs the impedance response of the object and a secondary task governs the impedance response of the joints. Using a novel transformation, the primary task may specify a subset
doi:10.1109/ichr.2010.5686287
dblp:conf/humanoids/AbdallahWP10
fatcat:mczv5qpymncwte73xudbhjgoo4