A mechatronic analysis of the classical position-force controller based on bounded environment passivity - researchr publication authors

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Bert Willaert, Brecht Corteville, Dominiek Reynaerts, Hendrik Van Brussel, Emmanuel B. Vander Poorten. A mechatronic analysis of the classical position-force controller based on bounded environment passivity. I. J. Robotic Res., 30(4):444-462, 2011. [doi]

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