The Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control: Theory and Experiments.

Richard Volpe Pradeep K. Khosla The Equivalence of Second Order Impedance Control and Proportional Gain Explicit Force Control: Theory and Experiments. 3-24 1991 conf/iser/1991 ISER db/conf/iser/iser1991.html#VolpeK91