# Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops

> Research article (http://arxiv.org/pdf/1406.4047.pdf, 2016) · cited 70× · AI/ML

**Wikidata**: [openalex:W3101417067](https://www.wikidata.org/wiki/openalex:W3101417067)  
**Source**: https://4ort.xyz/entity/robot-impedance-control-and-passivity-analysis-with-inner-torque-and-velocity-feedback-loops