Open access peer-reviewed chapter

Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach

Written By

Christian Ott, Alin Albu Schaffer, Andreas Kugi and Gerd Hirzinger

Published: July 1st, 2005

DOI: 10.5772/4675

From the Edited Volume

Cutting Edge Robotics

Edited by Vedran Kordic, Aleksandar Lazinica and Munir Merdan

Chapter metrics overview

4,488 Chapter Downloads

View Full Metrics

Written By

Christian Ott, Alin Albu Schaffer, Andreas Kugi and Gerd Hirzinger

Published: July 1st, 2005