Shih-Feng Chen, Imin Kao. Geometrical Approach to the Conservative Congruence Transformation (CCT) for Robotic Stiffness Control. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA 2002, May 11-15, 2002, Washington, DC, USA. pages 544-549, IEEE, 2002.
Abstract is missing.