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"A Passivity based Cartesian Impedance Controller for Flexible Joint Robots ..."

Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger (2004)

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DOI: 10.1109/ROBOT.2004.1307463

access: closed

type: Conference or Workshop Paper

metadata version: 2022-01-12

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  - conf/icra/Albu-SchafferOH04
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Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments. ICRA 2004: 2666-2672

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