Gianluca Palli, Claudio Melchiorri, Thomas Wimböck, Markus Grebenstein, Gerd Hirzinger. Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. In 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy. pages 4367-4372, IEEE, 2007. [doi]
Abstract is missing.