A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
Resource URI: https://dblp.l3s.de/d2r/resource/publications/conf/icra/OttAKSH04
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A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
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