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A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
Albu-Schäffer, Alin and Ott, Christian and Hirzinger, Gerd (2007) A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 26 (1), pp. 23-39. SAGE PUBLICATIONS LTD. ISSN 0278-3649.
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| Document Type: | Article | ||||||||
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| Title: | A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots | ||||||||
| Authors: |
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| Date: | 03 January 2007 | ||||||||
| Journal or Publication Title: | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | Yes | ||||||||
| Volume: | 26 | ||||||||
| Page Range: | pp. 23-39 | ||||||||
| Editors: |
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| Publisher: | SAGE PUBLICATIONS LTD | ||||||||
| ISSN: | 0278-3649 | ||||||||
| Status: | Published | ||||||||
| Keywords: | Position, Torque, Impedance Control, Flexible Joint Robots | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Vorhaben DLR-Leichtbau-Roboter III (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||
| Deposited On: | 31 Aug 2007 | ||||||||
| Last Modified: | 27 Apr 2009 14:20 |
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