A geometric, passivity-guaranteed force-impedance controller on SE(3), with a velocity-field update that resolves the non-causality of prior unified force-impedance control.
Diffusion policy: Visuomotor policy learning via action diffusion,
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Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
A geometric, passivity-guaranteed force-impedance controller on SE(3), with a velocity-field update that resolves the non-causality of prior unified force-impedance control.