@incollection{Ott05,
author = {Christian Ott and Alin Albu Schaffer and Andreas Kugi and Gerd Hirzinger},
title = {Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach},
booktitle = {Cutting Edge Robotics},
publisher = {IntechOpen},
address = {Rijeka},
year = {2005},
editor = {Vedran Kordic and Aleksandar Lazinica and Munir Merdan},
chapter = {39},
doi = {10.5772/4675},
url = {https://doi.org/10.5772/4675}
}