Mechanically implementable accommodation matrices for passive force control

Ambarish Goswami, Michael Peshkin

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


An account is given on wrists incorporating damper networks for which the admittance matrices reduce to accommodation or inverse-damping matrices. The overall wrist-accommodation matrix is obtained by projecting the accommodation matrix of the damper network through the wrist kinematics. The linear combination of the dominant basis matrices projected through the wrist kinematics generates the entire space of mechanically implementable force-control laws. Finally, the versatility of mechanically implementable force-control laws is quantified by comparing this space to the space of all matrices.

Original languageEnglish (US)
Pages (from-to)830-844
Number of pages15
JournalInternational Journal of Robotics Research
Issue number8
StatePublished - Aug 1999

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics


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