most citedA Cooperation Control Framework Based on Admittance Control and Time-varying Passive Velocity Field Control for Human-Robot Co-carrying Tasks

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eess.SY2026

Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment

Van Trong Dang, Sumitaka Honji, Takahiro Wada

Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize safe interaction between the mechanical system and its physical envir…