Dual-arm admittance control using conformal geometric algebra
We propose a task-space admittance controller for dual-arm robotic systems using conformal geometric algebra. The controller is a reinterpretation of a previous work using dual quaternion algebra. By introducing conformal geometric algebra, we aim to enhance the geometric expressiveness, which simpl...
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| Hoofdauteurs: | , , , , , |
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| Formaat: | Artigo |
| Taal: | Inglês |
| Gepubliceerd in: |
Frontiers Media S.A.
2026-05-01
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| Reeks: | Frontiers in Robotics and AI |
| Onderwerpen: | |
| Online toegang: | https://www.frontiersin.org/articles/10.3389/frobt.2026.1807613/full |
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