Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger. Decoupling based Cartesian impedance control of flexible joint robots. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan. pages 3101-3107, IEEE, 2003.
Abstract is missing.