A physically consistent stiffness formulation for contact-rich manipulation
The International Journal of Robotics Research
Published online on November 10, 2025
Abstract
The International Journal of Robotics Research, Volume 45, Issue 8, Page 1285-1299, July 2026.
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to an asymmetric ...
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to an asymmetric ...