Published On Apr 1, 2023
Cartesian Space Impedance Control of LIMS3-AMBIDEX
1. Holding balls using virtual spring-dampers
2. Maintaining end-effector orientation
3. Virtual Boundary in Cartesian Space
Proprioceptive control not using force or torque sensors
Cartesian space impedance without inertia shaping
Light, soft, safe, and fun
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