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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Item URL in elib: | https://elib.dlr.de/51174/ | ||||||||||||
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Document Type: | Article | ||||||||||||
Title: | A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots | ||||||||||||
Authors: |
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Date: | 3 January 2007 | ||||||||||||
Journal or Publication Title: | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
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 (old) | ||||||||||||
HGF - Program: | Space (old) | ||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 31 Aug 2007 | ||||||||||||
Last Modified: | 27 Apr 2009 14:20 |
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