@article{oai:tokyo-metro-u.repo.nii.ac.jp:00003724,
 author = {タケスエ, ナオユキ and ノバタ, シゲヒロ and フジモト, ヒデオ and Takesue, Naoyuki and Nobata, Shigehiro and Fujimoto, Hideo and 武居, 直行 and 野畑, 茂広 and 藤本, 英雄},
 issue = {6},
 journal = {日本ロボット学会誌},
 month = {Sep},
 note = {This paper is concerned with the human-robot system such as power assist system based on the position-control-based impedance control (admittance control). The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments.},
 pages = {635--642},
 title = {安定した接触を実現するアドミッタンス制御手法},
 volume = {26},
 year = {2008}
}