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Quote: a force condition is triggered when the inner product of sensed joint torques and torque directions is above a threshold
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Topic:
force control in robots
Quotation Skeleton
The force conditions [for triggering an action] are described by a … and the remaining 12 … form a vector representing a generalized torque "direction". … a 12-vector of sensed joint torques, the condition … [the inner product of sensed torques and torque directions is >= the threshold]. … Three option bits may be used to change … side … and/or to normalize [the sensed torques]. Google-1 Google-2
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Topic: force control in robots (13 items)