Robot Control
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During human-robot collaboration tasks, we may physically touch the robot at a generic location and engage an intentional exchange of forces while realizing coordinated motion of the common contact point. In order to control the relative motion and the exchanged contact forces, the latter need to...
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The Newton-Euler equations that govern multi-body systems are not
integrable in general. However, they become so in the pendular mode, a
specific way of moving where conservation of the angular momentum is
enforced. This property was successfully showcased for locomotion over...