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What you're talking about is called impedance. Neville Hogan of MIT made it popular although he wasn't the first person to think of the idea. So look up some of his papers.

The basic idea is to convert a force to a velocity or displacement with a spring law, like vel_x=kF_x. Likewise for torques: omega_x=kTao_x. You can adjust the k's to seem more or less stiff.

What you're talking about is called impedance. Neville Hogan of MIT made it popular although he wasn't the first person to think of the idea. So look up some of his papers.

The basic idea is to convert a force to a velocity or displacement with a spring law, like vel_x=kF_x. vel_x=k*F_x. Likewise for torques: omega_x=kTao_x. omega_x=k*Tao_x. You can adjust the k's to seem more or less stiff.