# Enhancing the Force Transparency of Time Domain Passivity Approach: Observer-Based Gradient Controller

> Research article (2019 International Conference on Robotics and Automation (ICRA), 2019) · cited 20× · AI/ML

**Wikidata**: [openalex:W2948556269](https://www.wikidata.org/wiki/openalex:W2948556269)  
**Source**: https://4ort.xyz/entity/enhancing-the-force-transparency-of-time-domain-passivity-approach-observer-based-gradient-controller