Cartesian Impedance Control of Redundant and Flexible-Joint Robots

By the dawn of the new millennium, robotics has undergone a major transf— mation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co—habitat with humans in homes, workplaces, and c— munities, providing support in services,...