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About this paper
Adnan Takriti, Mahmoud Sadeq, Quentin Rouxel, Daniele Cafolla, Michael Mistry, Carlo Tiseo
The authors present H-PMP, a Fractal Impedance Control architecture that combines task-space admittance with joint-space HapFIC, using bounded offsets to yield to contact while tracking a path. On a Kinova Gen3 wall-release test, it ended the hold at an estimated 12.6 N and moved 23.4 mm past the wall, between comparison controllers. These trials do not establish general safety.
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