# Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

> Research article (IEEE Transactions on Robotics, 2021) · cited 25× · AI/ML

**Wikidata**: [openalex:W4206624084](https://www.wikidata.org/wiki/openalex:W4206624084)  
**Source**: https://4ort.xyz/entity/passive-impedance-control-of-robots-with-viscoelastic-joints-via-inner-loop-torque-control