Stabilization of Complementarity Systems via Contact-Aware Controllers
We propose a control framework, which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-The-Art control pol...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2022
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| Subjects: | |
| Online Access: | View Fulltext in Publisher |