PHRI
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Impedance MPC for Physical Human-Robot Interaction: Predictive Disturbance Rejection with Joint-Limit Safety
arXiv:2606.08281v1 Announce Type: new Abstract: Physical human-robot interaction (pHRI) demands simultaneous trajectory accuracy and compliant safety under unplanned contact. Classical impedance control incurs a nonzero steady-state position error under sustained human force -- the applied force divided by the task stiffness -- which integral action reduces only within a narrow stable-gain budget. We present a two-layer Impedance MPC that resolves this tension.
Israel puts Palestinian doctor in solitary confinement after 17 months held without charge
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