Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop - researchr publication

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Gianluca Garofalo, Alexander Werner, Florian Loeffl, Christian Ott. Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control Systems Letters, 3(1):1-6, 2019. [doi]

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