1. Kroger T, Finkemeyer B, Heuck M, Wahl F. Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments. In: IEEE/RSJ international conference on intelligent robots and systems, Sendai, Japan; September 2004. p. 816–21.
2. Hogan N. Impedance control: an approach to manipulator: Part 1-theory, Part 2-implementations, Part 3-applications. ASME Journal of Dynamic Systems, Measurement, and Control 1985;107:1–24.
3. On the stability of manipulators performing contact tasks;Hogan;IEEE Journal of Robotics and Automation,1988
4. On the stability of robot compliant motion control;Kazerooni;ASME Journal of Dynamic Systems, Measurement, and Control,1990
5. Impedance control of flexible base mobile manipulator using singular perturbation method and sliding mode control law;Salehi;International Journal of Control, Automation, and Systems,2008