PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments
Nonlinear Systems Analysis
On a New Generation of Torque Controlled Light-Weight Robots
A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments
A unified approach for motion and force control of robot manipulators: The operational space formulation
A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation