I2mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction
Florian Voigt,Abdeldjallil Naceri,Sami Haddadin,Florian Voigt,Abdeldjallil Naceri,Sami Haddadin
Sophisticated manipulation requires both compliance and accuracy. While tactile robots excel at being compliant, their accuracy is often inadequate for complex manipulation. Contact-rich assembly tasks, such as the insertion and manipulation of objects with small tolerances pose an enormous challenge. Complex, highly integrated assemblies, especially in high-tech areas such as robotics, sensors, o...
