The following publications are possibly variants of this publication:
- A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint RobotsAlin Albu-Schäffer, Christian Ott, Gerd Hirzinger. ijrr, 26(1):23-39, 2007. [doi]
- A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint RobotsAlin Albu-Schäffer, Christian Ott, Gerd Hirzinger. isrr 2007: 5-21 [doi]
- A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity CompensationChristian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger. icra 2004: 2659-2665 [doi]
- A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and ExperimentsAlin Albu-Schäffer, Christian Ott, Gerd Hirzinger. icra 2004: 2666-2672 [doi]
- Decoupling based Cartesian impedance control of flexible joint robotsChristian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger. icra 2003: 3101-3107
- Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach)Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger. at, 53(8):378-388, 2005. [doi]
- Cartesian Impedance Control of Redundant and Flexible-Joint RobotsChristian Ott. Volume 49 of Springer Tracts in Advanced Robotics, Springer, 2008. [doi]