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    ICRA
    1999
    IEEE
    117views Robotics» more  ICRA 1999»
    A General Contact Model for Dynamically-Decoupled Force/Motion Control
    13 years 8 months ago
    A General Contact Model for Dynamically-Decoupled Force/Motion Control
    Download  sun-valley.stanford.edu
    : This paper presents a general rst-order kinematic model of frictionless rigid-body contact for use in hybrid force motion control. It is formulated in an invariant manner by trea...
    Roy Featherstone, Stef Sonck Thiebaut, Oussama Kha...
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