An Energy-Based Approach to the Force-Impedance Control Problem for Robot Manipulators

Haojun Ma, Mauricio Muñoz-Arias, Jacquelien M. A. Scherpen, Alessandro Macchelli. An Energy-Based Approach to the Force-Impedance Control Problem for Robot Manipulators. IEEE Trans. Contr. Sys. Techn., 34(1):123-138, January 2026. [doi]

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