# An improved force-based impedance control method for the HDU of legged robots

> Research article (ISA Transactions, 2018) · cited 49× · AI/ML

**Wikidata**: [openalex:W2890677810](https://www.wikidata.org/wiki/openalex:W2890677810)  
**Source**: https://4ort.xyz/entity/an-improved-force-based-impedance-control-method-for-the-hdu-of-legged-robots