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cs.RO2024
Current-Based Impedance Control for Interacting with Mobile Manipulators
Jelmer de Wolde, Luzia Knoedler, Gianluca Garofalo +1
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interactio…
cs.RO2024
Compliant Hierarchical Control for Arbitrary Equality and Inequality Tasks with Strict and Soft Priorities
Gianluca Garofalo
When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having…