Research paper
Flexible-joint robots · Passivity across torque, position and impedance control
The framework interprets inner torque feedback as motor-inertia shaping and connects position, torque and impedance controllers through passivity analysis. The authors report DLR lightweight-robot evaluations, including an impact experiment.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
- Publisher
- SAGE Publications
- Authors
- Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
- DOI
- 10.1177/0278364907073776
- First online publication
- 2007-01-01
- Source language
- en
- Edition
- The International Journal of Robotics Research; 2007; DOI 10.1177/0278364907073776
- Access
- Publisher abstract · restricted full text
- Publication status
- Published
Related resources and engineering notes
Source overview
The framework interprets inner torque feedback as motor-inertia shaping and connects position, torque and impedance controllers through passivity analysis. The authors report DLR lightweight-robot evaluations, including an impact experiment.
Use and review
Review covers bibliography and publisher-deposited abstract only. Passivity and one impact test do not replace validation of human-contact force/pressure limits or safety under faults.
Sources & editions
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots ↗
SAGE Publications · The International Journal of Robotics Research; 2007; DOI 10.1177/0278364907073776
IJRR publisher-deposited abstract and online-date metadata, DOI 10.1177/0278364907073776.