@article{Antara_admittance_control_2026,
 abstract = {Robotic visual inspection requires precise alignment between the end-effector and local surface geometry in the presence of perception noise and surface irregularities. In industrial settings, a human operator is often kept in the loop via teleoperation or shared autonomy, introducing real-time adjustments that render purely offline motion planning inadequate. This motivates control architectures capable of reactive, compliant behavior under combined human and perceptual uncertainty. This paper presents a novel robotic inspection framework with admittance-based control that unifies operator input and perception-driven surface alignment. The end-effector is modeled as a virtual sphere moving through a viscous medium, yielding a physically interpretable mass--damper system that generates synchronized, compliant motion from orientation error and operator commands. We validate the framework on a 6-DOF manipulator demonstrating stable normal-tracking and a final mean orientation error of 0.007 rad.},
 author = {Banerjee, Antara and Acton, Colin and Chen, Xu},
 author+an = {1:family=student;2:family=student;3=xc},
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 date-added = {2026-03-26 12:59:58 -0700},
 date-modified = {2026-03-31 18:07:32 -0700},
 journal = {Journal of Manufacturing Processes},
 note = {under review},
 title = {Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection},
 year = {2026}
}