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cs.RO2026
Virtual model control for compliant reaching under uncertainties
Yi Zhang, Daniel Larby, Fumiya Iida +1
Virtual Model Control (VMC) is an approach to design a controller for force-controlled robots in complex uncertain environments. While this method was primarily investigated for le…
cs.RO2026
Grasping by interconnection: robust closing motions from coarse object templates
Julien Vanderheyden, Guillaume Drion, Fulvio Forni +1
Dexterous robot hands must often grasp objects whose shape, size, and pose are known only approximately. Grasp planners typically require accurate object models or correct errors w…
cs.RO2026
Passive iFIR filters for data-driven velocity control in robotics
Yi Zhang, Zixing Wang, Fulvio Forni
We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design com…