Christopher Schindlbeck, Sami Haddadin. Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks. In IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015. pages 440-447, IEEE, 2015. [doi]
Abstract is missing.