Where does the Task Frame go?
This paper discusses the “Task Frame” (TF) as a central concept in (hybrid) robot force control and task specification. The title serves a double purpose: it refers to the desirable ability of a force controller to adapt on-line the motion constraint model on which the control is based, but also to the scientific evolution of the TF concept during the last two decades and its role in future developments.
KeywordsKalman Filter Force Control Contact Model Twist Space Statistical Significance Test
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