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cs.RO2026
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Annika Kirner, Grazia Zambella, Igor Kovacevic +3
Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are ofte…
cs.RO2026
The Nonsmooth Impact Direction (NSID) of Robotic Systems
Annika Kirner, Christian Ott
Collisions of rigid-link robots and rigid environments are often modeled as instantaneous events. Under this idealization, the impact forces become impulsive and the system velocit…