Susumu Tachi, Taisuke Sakaki, Hirohiko Arai, Shoichiro Nishizawa, Jose Felipe Pelaez-Polo. Impedance control of a direct-drive manipulator without using force sensors. Advanced Robotics, 5(2):183-205, 1990. [doi]
@article{TachiSANP90,
title = {Impedance control of a direct-drive manipulator without using force sensors},
author = {Susumu Tachi and Taisuke Sakaki and Hirohiko Arai and Shoichiro Nishizawa and Jose Felipe Pelaez-Polo},
year = {1990},
doi = {10.1163/156855391X00151},
url = {http://dx.doi.org/10.1163/156855391X00151},
researchr = {https://researchr.org/publication/TachiSANP90},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {5},
number = {2},
pages = {183-205},
}