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Chapter and Conference Paper
Adaptation to environment stiffness in the control of manipulators
The dynamic performance of fixed-gain force or impedance manipulator control systems in constrained situations is very dependent on the environment parameters: e.g. the force response at low stiffnesses may be...
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Chapter and Conference Paper
An Overview of KALI: a System to Program and Control Cooperative Manipulators
A software and hardware system, called Kali, for programming and controlling cooperative manipulators is described. It has been designed at McGill University in a collaborative effort with the Jet Propulsion L...