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Figure8

From:  Improved impedance/admittance switching controller for the interaction with a variable stiffness environment
Improved impedance/admittance switching controller for the interaction with a variable stiffness environment

Figure 8. Normalized cost functions for soft, medium, and stiff environments and total normalized cost. The minimum for every value of the inertia $$ m_i $$ parameter is highlighted.

Complex Engineering Systems
ISSN 2770-6249 (Online)
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