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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Bibliografiske detaljer

Principais autores:	Tobias Löw, Mariana de Paula Assis Fonseca, Vitalii Pruks, Graham Deacon, Jelizaveta Konstantinova, Sylvain Calinon
Format:	Artigo
Sprog:	Inglês
Udgivet:	Frontiers Media S.A. 2026-05-01
Serier:	Frontiers in Robotics and AI
Fag:	admittance control conformal geometric algebra dual-arm manipulation impedance control robotic manipulation
Online adgang:	https://www.frontiersin.org/articles/10.3389/frobt.2026.1807613/full
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