Yanlei Ye, Chin-Yin Chen, Peng Li, Guilin Yang, Chang-an Zhu. Cartesian admittance control with on-line gravity and friction observer compensation for elastic joint robots. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, December 3-7, 2016. pages 725-730, IEEE, 2016. [doi]
Abstract is missing.