Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

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Authors: Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott

Journal title: IEEE Transactions on Robotics

Journal number: Vol. 38, No. 1

Journal publisher: Institute of Electrical and Electronics Engineers

Published year: 2022

Published pages: 584-598

DOI identifier: 10.1109/tro.2021.3071617

ISSN: 1552-3098