A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation
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Alin Albu-Schäffer | Andreas Kugi | Stefano Stramigioli | Gerd Hirzinger | Christian Ott | G. Hirzinger | C. Ott | A. Albu-Schäffer | S. Stramigioli | A. Kugi
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