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    Chapter and Conference Paper

    A general contact model for dynamically-decoupled force/motion control

    This paper integrates a general first-order kinematic model of rigid-body contact with the equations of motion of the manipulated objects and robot arms. The more general kinematic allows us to model tasks tha...

    Roy Featherstone, Stef Sonck, Oussama Khatib in Experimental Robotics V (1998)