Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm. - Ren C. Luo; Yi-Wen Perng; Bo-Han Shih; Yun-Hsuan Tsai (ICRA, 2013)

Real time human motion imitation of anthropomorphic dual arm robot based on Cartesian impedance control. - Ren C. Luo; Bo-Han Shih; Tsung-Wei Lin (ROSE, 2013)