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Geometric grasping and telemanipulation

In this paper, an extension of the so-called intrinsic passive control (IPC) is illustrated, showing that an improvement of performances can be achieved by considering different types of energy-storing elements, i.e. "springs", in the IPC. In particular, two new "springs" are introduced: a 'variable rest length' spring and a 'variable stiffness' spring, that are properly defined in order to maintain the passivity of the IPC and to improve its performances in given situations. Simulations of the resulting control, applied to a defective system and to a simple telemanipulation device, are presented and discussed.