Introduces CERG, a reference management system that enforces energy limits for safe contact in robotic manipulators without penalizing free-motion performance, supported by simulations and hardware tests.
Hybrid position/force control of ma- nipulators,
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Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Introduces CERG, a reference management system that enforces energy limits for safe contact in robotic manipulators without penalizing free-motion performance, supported by simulations and hardware tests.