adaptive control 1control 1flexible joint robots 1humanoid locomotion 1impact dynamics 1joint stiffness estimation 1model-based control 1nonlinear dynamics 1nonsmooth systems 1planning 1robotic collisions 1
From the 2 of 2 linked papers with an AI index.
2 papers
cs.RO2026
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Annika Kirner, Grazia Zambella, Igor Kovacevic +3
The paper proposes an adaptive control method that continuously estimates the uncertain, nonlinear torque‑deflection relationship of flexible‑joint robots with position‑controlled…
cs.RO2026
The Nonsmooth Impact Direction (NSID) of Robotic Systems
Annika Kirner, Christian Ott
The paper analyzes the characteristic nonsmooth impact direction (NSID) of rigid-link robots during collisions, showing it is largely independent of contact properties and useful f…