A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation

C. Ott, A. Albu-Schaffer, A. Kugiy, Stefano Stramigioli, G. Hirzinger

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    139 Citations (Scopus)

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    Engineering & Materials Science