Work

A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation

Year: 2004

Type: conference-paper

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/robot.2004.1307462

Authors: C. Ott, A. Albu-Schaffer, A. Kugi, S. Stamigioli, G. Hirzinger

Institutions: Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Saarland University

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: closed

OpenAlex ID: W2097446805

FWCI: 12.22

Cites: 19

Cited by: 171

Related to: 10