Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers. - Takuto Fujiki; Kenji Tahara (ICRA, 2021)

Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control. - Hikaru Arita; Hayato Nakamura; Takuto Fujiki; Kenji Tahara (IEEE Trans. Robotics, 2023)