Mitsunori Uemura, Sadao Kawamura. Resonance-based task space controller for multi-joint robot with adjustable equilibrium angle of elastic element. In IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010. pages 825-830, IEEE, 2010. [doi]
Abstract is missing.