Mohammad Khansari, Klas Kronander, Aude Billard. Modeling robot discrete movements with state-varying stiffness and damping: A framework for integrated motion generation and impedance control. In Dieter Fox, Lydia E. Kavraki, Hanna Kurniawati, editors, Robotics: Science and Systems X, University of California, Berkeley, USA, July 12-16, 2014. 2014. [doi]
Abstract is missing.