Passivity-based motion and force tracking control for constrained elastic joint robots

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Authors: Xuming Meng, Manuel Keppler, Christian Ott

Journal title: IEEE Control Systems Letters

Journal number: vol. 7

Journal publisher: IEEE

Published year: 2023

Published pages: 217-222

DOI identifier: 10.1109/lcsys.2022.3187345

ISSN: 2475-1456