Interaction Stability Analysis from the Input-Output Viewpoints
Yuancan Huang,Qiang Huang,Yuancan Huang,Qiang Huang
Interaction with the environment is arguably one of the necessary actions for many robot applications such as haptic devices, manipulation, parts assembly, cooperation with humans, and the use of tools. Taxonomy of interaction behaviours is classified into three categories: cooperation, collaboration, and competition. In theory, interaction dynamics may be modelled by D'Alembert's principle or non...
