@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} }