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A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload

Article
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oboe, Roberto ; 
  • Haddadin, Sami ; 
  • Oh, Sehoon
  • 2024-07
  • Samuel, Kangwagye. (2024-07). A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload. IEEE Robotics and Automation Letters, 9(7), 6432–6439. doi: 10.1109/LRA.2024.3406055
  • IEEE
  • View : 163
  • Download : 105
Conference
Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Haddadin, Sami ; 
  • Oh, Sehoon
  • 2024-10-15
  • Samuel, Kangwagye. (2024-10-15). Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation. IEEE/RSJ International Conference on Intelligent Robots and Systems, 746–752. doi: 10.1109/IROS58592.2024.10802440
  • IEEE Robotics and Automation Society
  • View : 125
  • Download : 0
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