Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control
Kübra Karacan,Hamid Sadeghian,Robin Kirschner,Sami Haddadin,Kübra Karacan,Hamid Sadeghian,Robin Kirschner,Sami Haddadin
Tactile robots shall be deployed for dynamic task execution in production lines with small batch sizes. Therefore, these robots should have the ability to respond to changing conditions and be easy to (re-)program. Operating under uncertain environments requires unifying subsystems such as robot motion and force policy into one framework, referred to as tactile skills. In this paper, we propose th...
