On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots

Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff. On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots. IEEE Transactions on Robotics, 34(6):1461-1471, 2018. [doi]

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