Rahman Ardakanian

Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization

Rahman Ardakanian, Iman Kardan, AliAkbar Akbari, Ali Mousavi

Robot-environment interactions in dynamic or unstructured settings are often degraded by impact shocks, vibrations, and uncertainties in contact geometry and mechanical properties. This paper proposes an interaction architecture that combines feedback-linearized hybrid position-f…Read more