LIMS3-AMBIDEX: Cartesian Space Impedance Control

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Cartesian Space Impedance Control of LIMS3-AMBIDEX
1. Holding balls using virtual spring-dampers
2. Maintaining end-effector orientation
3. Virtual Boundary in Cartesian Space

- Proprioceptive control not using force or torque sensors
- Cartesian space impedance without inertia shaping
- Light, soft, safe, and fun

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