A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments - researchr publication authors

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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. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA. pages 2666-2672, IEEE, 2004. [doi]

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