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Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture
Opening the door of unsecured furniture loads the frictional contacts at its supports; too large a pull slides or tips the object. A friction-cone constraint on the commanded wrench removes this failure mode but costs haptic transparency. We quantify the trade-off: an admissible wrench set built fro
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