A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.

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. 2659-2665 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1307462 db/conf/icra/icra2004-3.html#OttAKSH04