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Control Problems in Robotics
In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we describe recent developments in low impedance actuation that have allowed for improvements in the safety characteristics of human-centered manipulators. In addition, the control challenges unique to the use of low impedance actuation aredoi:10.1007/3-540-36224-x_7 dblp:series/star/ZinnKRS03 fatcat:jxrwjstk2ndsrimps5uyy5ejve