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When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics. The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the contact transition. Stability of the system is shown using an observer-based backstepping designdoi:10.1007/978-3-540-70932-9_23 dblp:conf/eccv/OlssonJR06 fatcat:7yrjqynfbzaythwhvaadqh7qra