Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers

作者：Daniel Larby, Fulvio Forni · 机构：Department of Engineering, University of Cambridge, Cambridge, U.K.; Swan Endosurgical, Cambridge, U.K.

会议/期刊：IEEE Transactions on Robotics · 发布日期：2026 · 页码：439-454