Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization

Rahman Ardakanian, Iman Kardan, AliAkbar Akbari +1

Robot-environment interactions in dynamic or unstructured settings are often degraded by impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties.…