Figure8
![Improved impedance/admittance switching controller for the interaction with a variable stiffness environment](https://image.oaes.cc/61780cd8-2b38-4198-9741-1de0f866bda5/4985-8.jpg)
Figure 8. Normalized cost functions for soft, medium, and stiff environments and total normalized cost. The minimum for every value of the inertia
Figure 8. Normalized cost functions for soft, medium, and stiff environments and total normalized cost. The minimum for every value of the inertia
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