Screw impedance control for multi-contact interactions with hierarchically structured, bounded parameter matrices
The International Journal of Robotics Research
Published online on March 21, 2026
Abstract
The International Journal of Robotics Research, Ahead of Print.
Multi-contact interaction remains a central challenge for precise robotic manipulation. This paper proposes a screw impedance control (SIC) framework based on screw theory that supports intuitive modeling of distributed, non-orthogonal interactions while ...
Multi-contact interaction remains a central challenge for precise robotic manipulation. This paper proposes a screw impedance control (SIC) framework based on screw theory that supports intuitive modeling of distributed, non-orthogonal interactions while ...