Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff. Combined inverse-dynamics/passivity-based control for robots with elastic joints. In 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017. pages 5281-5288, IEEE, 2017. [doi]
Abstract is missing.