The unionize control of position and force can be realized by impedance control, which is one of main compliant force control theory.
阻抗控制能够实现位移与力的统一控制,是实现柔顺力控制的主要理论依据之一。
Taiji, which is not only the nature noumenon but also the nature modality, is the tiptop category to unionize the idea of Yinyang and Wuxing.
太极是用来统一阴阳、五行观念的最高范畴,它既是自然的本体,又是自然的存在样式。