Orientation Control with Variable Stiffness Dynamical Systems
Youssef Michel,Matteo Saveriano,Fares J. Abu-Dakka,Dongheui Lee,Youssef Michel,Matteo Saveriano,Fares J. Abu-Dakka,Dongheui Lee
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part which can be crucial to many tasks e.g. screwing. In this work, we propose a control algorithm that ...
