Direction-preserving 6D impedance control maintains the restoring torque direction through large rotations, allowing natural physical interaction beyond a half-turn.
IEEE RA-L · 2026 · Accepted / ICRA · 2022
6D Compliant Control beyond 180° Rotation
Representative Publications
This project includes the ICRA 2022 conference paper and the 2026 journal version accepted to IEEE Robotics and Automation Letters.
Journal version · 2026
Direction-Preserving 6D Impedance Control Using Observer-Based Extended Unit Quaternion
Jinyeong Jeong and Min Jun Kim
IEEE Robotics and Automation Letters (RA-L), 2026, Accepted
@article{jeong2026direction,
title={Direction-Preserving 6D Impedance Control Using Observer-Based Extended Unit Quaternion},
author={Jeong, Jinyeong and Kim, Min Jun},
journal={IEEE Robotics and Automation Letters},
year={2026},
note={Accepted},
doi={10.1109/LRA.2026.3746072}
}
Conference version · 2022
A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function
Jinyeong Jeong, Hrishik Mishra, Christian Ott, and Min Jun Kim
IEEE International Conference on Robotics and Automation (ICRA), 2022
@inproceedings{jeong2022memory,
title={A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function},
author={Jeong, Jinyeong and Mishra, Hrishik and Ott, Christian and Kim, Min Jun},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2022}
}