most citedRobot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops

62 citations · 62 across the 1 of their papers we have counts for

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eess.SY2014★ 62 cited

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops

Michele Focchi, Gustavo A. Medrano-Cerda, Thiago Boaventura +4

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from s…