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@article{TUW-112674,
    author = {Ott, Christian and Albu-Sch{\"a}ffer, Alin and Kugi, Andreas and Hirzinger, Gerd},
    title = {On the Passivity-Based Impedance Control of Flexible Joint Robots},
    journal = {IEEE Transactions on Robotics},
    year = {2008},
    volume = {24},
    number = {2},
    pages = {416--429},
    doi = {10.1109/TRO.2008.915438}
}



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