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One approach to the learning of admittance matrix elements in damping control is presented. It is dicult to determine admittance matrix elements analytically since they depend upon many physical properties, which are not identied e asily, of manipulated o b j e cts. In this article, we will propose a method to obtain admittance matrix elements through iterative trials of a manipulative operation. First, mating processes are kinematically analyzed and conditions for admittance matrix elementsdoi:10.1109/iros.1996.571048 dblp:conf/iros/HiraiII96 fatcat:gcm747k6ivdjvobxn7ixpswqay