Second order matrix sensitivity analysis of force-based impedance control for leg hydraulic drive system

Kaixian Ba, Bin Yu, Qixin Zhu, Zhengjie Gao, Guoliang Ma, Zhengguo Jin, Xiangdong Kong. Second order matrix sensitivity analysis of force-based impedance control for leg hydraulic drive system. Robotics and Autonomous Systems, 121, 2019. [doi]

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