"A Passivity based Cartesian Impedance Controller for Flexible Joint Robots ..."

Christian Ott et al. (2004)

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DOI: 10.1109/ROBOT.2004.1307462

access: closed

type: Conference or Workshop Paper

metadata version: 2022-01-12

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Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation. ICRA 2004: 2659-2665

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