Robust stabilization of elastic joint robots by ESP and PID control: theory and experiments

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Authors: Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott

Journal title: IEEE Robotics and Automation Letters

Journal number: vol. 7, no. 3

Journal publisher: IEEE

Published year: 2022

Published pages: 8283-8290

DOI identifier: 10.1109/lra.2022.3187277

ISSN: 2377-3766