Ernest D. Fasse, Jan F. Broenink. A spatial impedance controller for robotic manipulation. IEEE Transactions on Robotics, 13(4):546-556, 1997. [doi]
@article{FasseB97,
title = {A spatial impedance controller for robotic manipulation},
author = {Ernest D. Fasse and Jan F. Broenink},
year = {1997},
doi = {10.1109/70.611315},
url = {http://dx.doi.org/10.1109/70.611315},
researchr = {https://researchr.org/publication/FasseB97},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {13},
number = {4},
pages = {546-556},
}