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- W2155992823 abstract "This paper presents a novel approach to the control of articulated robots in unstructured environments. The proposed control ensures several properties. First, the controller guarantees the achievement of a goal position without getting stuck in local minima. Then, the controller makes the closed-loop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans. Finally, the control law is explicitly shaped by the safety measure – the danger field. The proposed control law has been implemented and validated in a realistic experimental scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment, without any offline planning phase. Furthermore, the passivity of the system enables the robot to easily accommodate external forces on the tool, when a physical contact between the robot and the environment is established." @default.
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- W2155992823 date "2014-09-23" @default.
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- W2155992823 title "Passivity-based control of robotic manipulators for safe cooperation with humans" @default.
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- W2155992823 doi "https://doi.org/10.1080/00207179.2014.956338" @default.
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