Alin Albu-Schäffer, Gerd Hirzinger. Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots. In Antonio Bicchi, Domenico Prattichizzo, Henrik Iskov Christensen, editors, Control Problems in Robotics. Volume 4 of Springer Tracts in Advanced Robotics, pages 135-151, 2003. [doi]
Abstract is missing.