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4 papers
2008Robotics and Autonomous Systems, vol. 56, no. 3, pp. 241-252, DOI: 10.1016/j.robot.2007.08.005
Safety in human-robot interaction: a survey
Finding: They show that combining force/torque sensors with adaptive control can significantly reduce risks, and existing standards (e.g., ISO) provide a solid framework.
safetycollaborative robots
2004International Journal of Humanoid Robotics, vol. 1, no. 1, pp. 157-173, DOI: 10.1142/S0219843604000083
Zero-moment point – thirty five years of its life
Finding: ZMP has become a cornerstone of bipedal stability control, and many successful algorithms are based on it.
ZMPbalance
2000Industrial Robot: An International Journal, vol. 27, no. 4, pp. 278-285, DOI: 10.1108/01439910010334289
Force control in robotic manipulation: a review
Finding: Impedance control is better suited for soft environments, while hybrid control is preferred for rigid surfaces; the choice depends on the application.
force controlimpedance
1942Transactions of the American Society of Mechanical Engineers, vol. 64, no. 8, pp. 759-768
Optimum Settings for Automatic Controllers
Finding: The Ziegler-Nichols methods quickly became industry standard for PID tuning and are still used as a good starting point.
PIDZiegler-Nichols