{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T16:25:09Z","timestamp":1759335909353,"version":"3.38.0"},"publisher-location":"Berlin, Heidelberg","reference-count":19,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642173189"},{"type":"electronic","value":"9783642173196"}],"license":[{"start":{"date-parts":[[2010,1,1]],"date-time":"2010-01-01T00:00:00Z","timestamp":1262304000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010]]},"DOI":"10.1007\/978-3-642-17319-6_38","type":"book-chapter","created":{"date-parts":[[2010,11,11]],"date-time":"2010-11-11T05:17:11Z","timestamp":1289452631000},"page":"411-422","source":"Crossref","is-referenced-by-count":10,"title":["Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control"],"prefix":"10.1007","author":[{"given":"Thomas","family":"Lens","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J\u00fcrgen","family":"Kunz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oskar","family":"von Stryk","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"1","key":"38_CR1","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1177\/0278364907073776","volume":"26","author":"A. Albu-Sch\u00e4ffer","year":"2007","unstructured":"Albu-Sch\u00e4ffer, A., Ott, C., Hirzinger, G.: A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. International Journal of Robotics Research\u00a026(1), 23\u201339 (2007)","journal-title":"International Journal of Robotics Research"},{"key":"38_CR2","unstructured":"BioRob project website, http:\/\/www.biorob.de"},{"key":"38_CR3","doi-asserted-by":"crossref","unstructured":"De Luca, A.: Feedforward\/feedback laws for the control of flexible robots. In: Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA), vol.\u00a01, pp. 233\u2013240 (2000)","DOI":"10.1109\/ROBOT.2000.844064"},{"key":"38_CR4","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1007\/978-3-540-30301-5_14","volume-title":"Springer Handbook of Robotics","author":"A. Luca De","year":"2008","unstructured":"De Luca, A., Book, W.: Robots with Flexible Elements. In: Springer Handbook of Robotics, pp. 287\u2013319. Springer, Heidelberg (2008)"},{"issue":"10","key":"38_CR5","doi-asserted-by":"publisher","first-page":"1809","DOI":"10.1016\/j.automatica.2005.05.009","volume":"41","author":"A. Luca De","year":"2005","unstructured":"De Luca, A., Siciliano, B., Zollo, L.: PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments. Automatica\u00a041(10), 1809\u20131819 (2005)","journal-title":"Automatica"},{"issue":"7","key":"38_CR6","doi-asserted-by":"publisher","first-page":"749","DOI":"10.1016\/j.mechmachtheory.2006.01.014","volume":"41","author":"S.K. Dwivedy","year":"2006","unstructured":"Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators, a literature review. Mechanism and Machine Theory\u00a041(7), 749\u2013777 (2006)","journal-title":"Mechanism and Machine Theory"},{"key":"38_CR7","doi-asserted-by":"crossref","unstructured":"H\u00f6pler, R., Th\u00fcmmel, M.: Symbolic computation of the inverse dynamics of elastic joint robots. In: Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA (2004)","DOI":"10.1109\/ROBOT.2004.1302396"},{"issue":"4","key":"38_CR8","doi-asserted-by":"publisher","first-page":"295","DOI":"10.1177\/027836402320556331","volume":"21","author":"G.K. Klute","year":"2002","unstructured":"Klute, G.K., Czerniecki, J.M., Hannaford, B.: Artificial muscles: Actuators for biorobotic systems. International Journal of Robotics Research\u00a021(4), 295\u2013309 (2002)","journal-title":"International Journal of Robotics Research"},{"key":"38_CR9","unstructured":"Lens, T., Kunz, J., Trommer, C., Karguth, A., von Stryk, O.: Biorob-arm: A quickly deployable and intrinsically safe, light-weight robot arm for service robotics applications. In: Proc. 41st International Symposium on Robotics (ISR)\/6th German Conference on Robotics, ROBOTIK (2010)"},{"key":"38_CR10","unstructured":"Marino, R., Nicosia, S.: On the feedback control of industrial robots with elastic joints: A singular perturbation approach. Tech. Rep. R-84.01, University of Rome (1984)"},{"key":"38_CR11","doi-asserted-by":"crossref","unstructured":"M\u00f6hl, B.: Bionic robot arm with compliant actuators. In: Proc. Sensor Fusion and Decentralized Control in Robotic Systems III (SPIE), pp. 82\u201385 (2000)","DOI":"10.1117\/12.403707"},{"key":"38_CR12","doi-asserted-by":"crossref","unstructured":"Murphy, S., Wen, J., Saridis, G.: Simulation and analysis of flexibly jointed manipulators. In: Proc. 29th IEEE Conf. on Decision and Control, vol.\u00a02, pp. 545\u2013550 (1990)","DOI":"10.1109\/CDC.1990.203656"},{"key":"38_CR13","doi-asserted-by":"crossref","unstructured":"Pratt, G., Williamson, M.: Series elastic actuators. In: IEEE\/RSJ Intl. Conf. on Intelligent Robots and Systems, vol.\u00a01, p. 399 (1995)","DOI":"10.1109\/IROS.1995.525827"},{"issue":"4","key":"38_CR14","doi-asserted-by":"publisher","first-page":"310","DOI":"10.1115\/1.3143860","volume":"109","author":"M.W. Spong","year":"1987","unstructured":"Spong, M.W.: Modeling and control of elastic joint robots. Journal of Dynamic Systems, Measurement, and Control\u00a0109(4), 310\u2013318 (1987)","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"issue":"6","key":"38_CR15","doi-asserted-by":"publisher","first-page":"739","DOI":"10.1109\/9.53558","volume":"35","author":"P. Tomei","year":"1990","unstructured":"Tomei, P.: An observer for flexible joint robots. IEEE Transactions on Automatic Control\u00a035(6), 739\u2013743 (1990)","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"10","key":"38_CR16","doi-asserted-by":"publisher","first-page":"1208","DOI":"10.1109\/9.90238","volume":"36","author":"P. Tomei","year":"1991","unstructured":"Tomei, P.: A simple pd controller for robots with elastic joints. IEEE Transactions on Automatic Control\u00a036(10), 1208\u20131213 (1991)","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"3","key":"38_CR17","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1109\/MRA.2009.933629","volume":"16","author":"R. Ham Van","year":"2009","unstructured":"Van Ham, R., Sugar, T., Vanderborght, B., Hollander, K., Lefeber, D.: Compliant actuator designs. IEEE Robotics & Automation Magazine\u00a016(3), 81\u201394 (2009)","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"38_CR18","doi-asserted-by":"crossref","unstructured":"Wolf, S., Hirzinger, G.: A new variable stiffness design: Matching requirements of the next robot generation. In: Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 1741\u20131746 (2008)","DOI":"10.1109\/ROBOT.2008.4543452"},{"issue":"4\/5","key":"38_CR19","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1177\/0278364904042193","volume":"23","author":"M. Zinn","year":"2004","unstructured":"Zinn, M., Khatib, O., Roth, B., Salisbury, J.: A new actuation approach for human-friendly robot design. International Journal of Robotics Research\u00a023(4\/5), 379\u2013398 (2004)","journal-title":"International Journal of Robotics Research"}],"container-title":["Lecture Notes in Computer Science","Simulation, Modeling, and Programming for Autonomous Robots"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-17319-6_38","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,27]],"date-time":"2025-02-27T19:04:10Z","timestamp":1740683050000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-17319-6_38"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010]]},"ISBN":["9783642173189","9783642173196"],"references-count":19,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-17319-6_38","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2010]]}}}