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2:57
YouTube
DLR RM
Hybrid Force-Impedance Control for Fast End-Effector Motions
This video presents a unified hybrid force-impedance framework for highly dynamic end-effector motions. The unified framework features compliant behavior in the free (motion) task directions and explicit force tracking in the constrained directions. Advantageously, the involved force subspace in contact direction is fully dynamically decoupled ...
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