# Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots

> Research article (IEEE Transactions on Robotics, 2018) · cited 83× · AI/ML

**Wikidata**: [openalex:W2793476814](https://www.wikidata.org/wiki/openalex:W2793476814)  
**Source**: https://4ort.xyz/entity/elastic-structure-preserving-esp-control-for-compliantly-actuated-robots