Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Safe and Compliant Control of Redundant Robots Using Superimposition of
  Passive Task-Space Controllers   Safe and compliant control of dynamic systems in interaction with the
environment, e.g., in shared workspaces, continues to represent a major
challenge. Mismatches in the dynamic model of the robots, numerical
singularities, and the intrinsic environmental unpredictability are all
contributing factors. Online optimization of impedance controllers has recently
shown great promise in addressing this challenge, however, their performance is
not sufficiently robust to be deployed in challenging environments. This work
proposes a compliant control method for redundant manipulators based on a
superimposition of multiple passive task-space controllers in a hierarchy. Our
control framework of passive controllers is inherently stable, numerically
well-conditioned (as no matrix inversions are required), and computationally
inexpensive (as no optimization is used). We leverage and introduce a novel
stiffness profile for a recently proposed passive controller with smooth
transitions between the divergence and convergence phases making it
particularly suitable when multiple passive controllers are combined through
superimposition. Our experimental results demonstrate that the proposed method
achieves sub-centimeter tracking performance during demanding dynamic tasks
with fast-changing references, while remaining safe to interact with and robust
to singularities. he proposed framework achieves such results without knowledge
of the robot dynamics and thanks to its passivity is intrinsically stable. The
data further show that the robot can fully take advantage of the redundancy to
maintain the primary task accuracy while compensating for unknown environmental
interactions, which is not possible from current frameworks that require
accurate contact information.

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The categories of this paper are: hep-ph
17
The categories of this paper are: q-fin
24
The categories of this paper are: dg-ga
32
The categories of this paper are: atom-ph
19
The categories of this paper are: eess
23
The categories of this paper are: solv-int
36
The categories of this paper are: cmp-lg
37
The categories of this paper are: supr-con
8
The categories of this paper are: hep-ex
26
The categories of this paper are: bayes-an
16
The categories of this paper are: stat
34
The categories of this paper are: chem-ph
25
The categories of this paper are: patt-sol
29
The categories of this paper are: funct-an
28
The categories of this paper are: alg-geom
7
The categories of this paper are: hep-th