Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer. A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots. In 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016. pages 1521-1528, IEEE, 2016. [doi]
Abstract is missing.