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A new interaction force decomposition maximizing compensating forces under physical work constraints
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Schmidts, A. M., Schneider, M., & Peer, A. (2013). A new interaction force decomposition maximizing compensating forces under physical work constraints

Decomposition of interaction forces in manipulation tasks has a long research tradition. Interaction forces are often split into robustness-reflective and accelerating forces. While this decomposition is typically performed for the synthesis of inter... Read More about A new interaction force decomposition maximizing compensating forces under physical work constraints.