{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T15:57:31Z","timestamp":1774454251375,"version":"3.50.1"},"publisher-location":"Berlin, Heidelberg","reference-count":40,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"value":"9783642194566","type":"print"},{"value":"9783642194573","type":"electronic"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011]]},"DOI":"10.1007\/978-3-642-19457-3_12","type":"book-chapter","created":{"date-parts":[[2011,4,21]],"date-time":"2011-04-21T13:44:27Z","timestamp":1303393467000},"page":"185-207","source":"Crossref","is-referenced-by-count":31,"title":["Anthropomorphic Soft Robotics \u2013 From Torque Control to Variable Intrinsic Compliance"],"prefix":"10.1007","author":[{"given":"Alin","family":"Albu-Sch\u00e4ffer","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oliver","family":"Eiberger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthias","family":"Fuchs","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Grebenstein","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sami","family":"Haddadin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christian","family":"Ott","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andreas","family":"Stemmer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thomas","family":"Wimb\u00f6ck","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sebastian","family":"Wolf","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christoph","family":"Borst","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gerd","family":"Hirzinger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"1","key":"12_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. The Int. J. of Robotics Research\u00a026(1), 23\u201339 (2007)","journal-title":"The Int. J. of Robotics Research"},{"issue":"2","key":"12_CR2","doi-asserted-by":"crossref","first-page":"416","DOI":"10.1109\/TRO.2008.915438","volume":"24","author":"C. Ott","year":"2008","unstructured":"Ott, C., Albu-Sch\u00e4ffer, A., Kugi, A., Hirzinger, G.: On the passivity based impedance control of flexible joint robots. IEEE Transactions on Robotics and Automation\u00a024(2), 416\u2013429 (2008)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"5","key":"12_CR3","doi-asserted-by":"publisher","first-page":"376","DOI":"10.1108\/01439910710774386","volume":"134","author":"A. Albu-Sch\u00e4ffer","year":"2007","unstructured":"Albu-Sch\u00e4ffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimb\u00f6ck, T., Hirzinger, G.: The DLR lightweight robot - design and control concepts for robots in human environments. Industrial Robot: An International Journal\u00a0134(5), 376\u2013385 (2007)","journal-title":"Industrial Robot: An International Journal"},{"key":"12_CR4","doi-asserted-by":"crossref","unstructured":"Wimb\u00f6ck, T., Ott, C., Hirzinger, G.: Passivity-based object-level impedance control for a multifingered hand. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4621\u20134627 (2006)","DOI":"10.1109\/IROS.2006.282170"},{"key":"12_CR5","doi-asserted-by":"publisher","first-page":"418","DOI":"10.1109\/70.88056","volume":"5","author":"L.E. Pfeffer","year":"1989","unstructured":"Pfeffer, L.E., Khatib, O., Hanke, J.: Joint-torque sensory feedback in the control of a puma manipulator. IEEE Trans. Robot. Automation\u00a05, 418\u2013425 (1989)","journal-title":"IEEE Trans. Robot. Automation"},{"key":"12_CR6","doi-asserted-by":"crossref","unstructured":"Khatib, O.: A unified approach for motion and force control of robot manipulators: The operational space formulation. RA-3, 43\u201353 (1987)","DOI":"10.1109\/JRA.1987.1087068"},{"key":"12_CR7","doi-asserted-by":"crossref","unstructured":"De Luca, A., Albu-Sch\u00e4ffer, A., Haddadin, S., Hirzinger, G.: Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2006), Beijing, China, pp. 1623\u20131630 (2006)","DOI":"10.1109\/IROS.2006.282053"},{"key":"12_CR8","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., De Luca, A., Hirzinger, G.: Collision detection & reaction: A contribution to safe physical human-robot interaction. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3356\u20133363 (2008)","DOI":"10.1109\/IROS.2008.4650764"},{"key":"12_CR9","doi-asserted-by":"crossref","unstructured":"Tien, L.L., Albu-Sch\u00e4ffer, A., Luca, A.D., Hirzinger, G.: Friction observer and compensation for control of robots with joint torque measurement. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3789\u20133795 (2008)","DOI":"10.1109\/IROS.2008.4651049"},{"key":"12_CR10","doi-asserted-by":"crossref","unstructured":"Fuchs, M., Borst, C., Robuffo-Giordano, P., Baumann, A., Kraemer, E., Langwald, J., Gruber, R., Seitz, N., Plank, G., Kunze, K., Burger, R., Schmidt, F., Wimb\u00f6ck, T., Hirzinger, G.: Rollin Justin - design considerations and realization of a mobile platform for a humanoid upper body. In: IEEE Int. Conf. on Robotics and Automation, vol.\u00a022, pp. 4131\u20134137 (2009)","DOI":"10.1109\/ROBOT.2009.5152464"},{"key":"12_CR11","doi-asserted-by":"crossref","unstructured":"Robuffo-Giordano, P., Albu-Sch\u00e4ffer, A., Fuchs, M., Hirzinger, G.: On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs. In: IEEE Int. Conf. on Robotics and Automation (2009)","DOI":"10.1109\/ROBOT.2009.5152625"},{"key":"12_CR12","doi-asserted-by":"crossref","unstructured":"Wimb\u00f6ck, T., Ott, C., Hirzinger, G.: Impedance behaviors for two-handed manipulation: Design and experiments. In: IEEE International Conference on Robotics and Automation, pp. 4182\u20134189 (2007)","DOI":"10.1109\/ROBOT.2007.364122"},{"key":"12_CR13","doi-asserted-by":"crossref","unstructured":"Albu-Sch\u00e4ffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Ott, C., Wimbock, G.H.T., Wolf, S.: Soft robotics: From torque feedback controlled lightweight robots to intrinsically compliant systems. IEEE Robotics & Automation Magazine, 20\u201330 (2008)","DOI":"10.1109\/MRA.2008.927979"},{"key":"12_CR14","doi-asserted-by":"crossref","unstructured":"Wimb\u00f6ck, T., Nenchev, D., Albu-Sch\u00e4ffer, A., Hirzinger, G.: Experimental study on dynamic reactionless motions with DLR\u2019s humanoid robot Justin. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (2009)","DOI":"10.1109\/IROS.2009.5354528"},{"key":"12_CR15","doi-asserted-by":"crossref","unstructured":"de Santis, A., Albu-Sch\u00e4ffer, A., Ott, C., Siciliano, B., Hirzinger, G.: The skeleton algorithm for self-collision avoidance of a humanoid manipulator. In: IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (2007)","DOI":"10.1109\/AIM.2007.4412606"},{"key":"12_CR16","doi-asserted-by":"crossref","unstructured":"Stemmer, A., Albu-Sch\u00e4ffer, A., Hirzinger, G.: An analytical method for the planning of robust assembly tasks of complex shaped planar parts. In: Proc. 2007 IEEE Int. Conf. of Robotics and Automation, pp. 317\u2013323 (2007)","DOI":"10.1109\/ROBOT.2007.363806"},{"key":"12_CR17","doi-asserted-by":"crossref","unstructured":"Robuffo-Giordano, P., Stemmer, A., Arbter, K., Albu-Sch\u00e4ffer, A.: Robotic assembly of complex planar parts: An experimental evaluation. In: IROS, pp. 3775\u20133782 (2008)","DOI":"10.1109\/IROS.2008.4650984"},{"key":"12_CR18","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing. In: Robotics: Science and Systems Conference (RSS 2007), Atlanta, USA, pp. 217\u2013224 (2007)","DOI":"10.15607\/RSS.2007.III.028"},{"key":"12_CR19","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts. In: IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, USA, pp. 1331\u20131338 (2008)","DOI":"10.1109\/ROBOT.2008.4543389"},{"key":"12_CR20","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part II: Constrained Blunt Impacts. In: IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, pp. 1339\u20131345 (2008)","DOI":"10.1109\/ROBOT.2008.4543389"},{"key":"12_CR21","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights. In: International Symposium on Robotics Research (ISRR 2007), Hiroshima, Japan, pp. 439\u2013450 (2007)"},{"key":"12_CR22","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: Requirements for safe robots: Measurements, analysis, & new insights. International Journal of Robotics Research (2009) (accepted)","DOI":"10.1177\/0278364909343970"},{"key":"12_CR23","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Frommberger, M., Rossmann, J., Hirzinger, G.: The DLR Crash Report: Towards a Standard Crash-Testing Protocol for Robot Safety - Part I: Results. In: IEEE Int. Conf. on Robotics and Automation (ICRA 2008), kobe, Japan, pp. 272\u2013279 (2009)","DOI":"10.1109\/ROBOT.2009.5152602"},{"key":"12_CR24","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Frommberger, M., Rossmann, J., Hirzinger, G.: The DLR Crash Report: Towards a Standard Crash-Testing Protocol for Robot Safety - Part II: Discussions. In: IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Kobe, Japan, pp. 280\u2013287 (2009)","DOI":"10.1109\/ROBOT.2009.5152711"},{"key":"12_CR25","doi-asserted-by":"crossref","unstructured":"De Luca, A., Albu-Sch\u00e4ffer, A., Haddadin, S., Hirzinger, G.: Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2006), Beijing, China, pp. 1623\u20131630 (2006)","DOI":"10.1109\/IROS.2006.282053"},{"key":"12_CR26","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., Luca, A.D., Hirzinger, G.: Collision detection & reaction: A contribution to safe physical human-robot interaction. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2008), Nice, France, pp. 3356\u20133363 (2008)","DOI":"10.1109\/IROS.2008.4650764"},{"key":"12_CR27","unstructured":"Haddadin, S., Albu-Sch\u00e4ffer, A., De Luca, A., Hirzinger, G.: Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissue. In: IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP 2008), Pasadena, USA(2008), http:\/\/www.robotic.de\/Sami.Haddadin"},{"key":"12_CR28","doi-asserted-by":"crossref","unstructured":"Morita, T., Iwata, H., Sugano, S.: Development of human symbiotic robot: Wendy. In: IEEE Int. Conf. of Robotics and Automation, pp. 3183\u20133188 (1999)","DOI":"10.1109\/ROBOT.1999.774083"},{"key":"12_CR29","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1109\/MRA.2004.1310939","volume":"11","author":"A. Bicchi","year":"2004","unstructured":"Bicchi, A., Tonietti, G.: Fast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control. IEEE Robotics and Automation Mag. 11, 22\u201333 (2004)","journal-title":"IEEE Robotics and Automation Mag"},{"key":"12_CR30","unstructured":"Migliore, S.A., Brown, E.A., DeWeerth, S.P.: Biologically Inspired Joint Stiffness Control. In: IEEE Int. Conf. on Robotics and Automation (ICRA 2005), Barcelona, Spain (2005)"},{"key":"12_CR31","doi-asserted-by":"crossref","unstructured":"Palli, G., Melchiorri, C., Wimboeck, T., Grebenstein, M., Hirzinger, G.: Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. In: IEEE Int. Conf. on Robotics and Automation (ICRA 2007), Rome, Italy, pp. 2928\u20132933 (2007)","DOI":"10.1109\/ROBOT.2007.364152"},{"issue":"4","key":"12_CR32","doi-asserted-by":"publisher","first-page":"343","DOI":"10.1177\/0278364906064566","volume":"25","author":"B. Vanderborght","year":"2006","unstructured":"Vanderborght, B., Verrelst, B., Ham, R.V., Damme, M.V., Lefeber, D., Duran, B.M.Y., Beyl, P.: Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators. Int. J. Robotics Research\u00a025(4), 343\u2013358 (2006)","journal-title":"Int. J. Robotics Research"},{"key":"12_CR33","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1163\/156855308X291836","volume":"22","author":"M. Grebenstein","year":"2008","unstructured":"Grebenstein, M., Smagt, P.v.d.: Antagonism for a highly anthropomorphic hand arm system. Advanced Robotics\u00a022, 39\u201355 (2008)","journal-title":"Advanced Robotics"},{"key":"12_CR34","doi-asserted-by":"publisher","first-page":"1741","DOI":"10.1109\/ROBOT.2008.4543452","volume-title":"IEEE Int. Conf. on Robotics and Automation","author":"S. Wolf","year":"2008","unstructured":"Wolf, S., Hirzinger, G.: A new variable stiffness design: Matching requirements of the next robot generation. In: IEEE Int. Conf. on Robotics and Automation, pp. 1741\u20131746. IEEE, Pasadena (2008)"},{"key":"12_CR35","doi-asserted-by":"publisher","first-page":"1509","DOI":"10.1016\/S0005-1098(03)00142-0","volume":"39","author":"H. Kobayashi","year":"2003","unstructured":"Kobayashi, H., Ozawa, R.: Adaptive neural network control of tendon-driven mechanisms with elastic tendons. Automatica\u00a039, 1509\u20131519 (2003)","journal-title":"Automatica"},{"key":"12_CR36","doi-asserted-by":"crossref","unstructured":"Tahara, K., Luo, Z.-W., Ozawa, R., Bae, J.-H., Arimoto, S.: Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles. In: IEEE International Conference on Robotics and Automation, pp. 994\u2013999 (2006)","DOI":"10.1109\/ROBOT.2006.1641839"},{"key":"12_CR37","doi-asserted-by":"crossref","unstructured":"Wimb\u00f6ck, T., Ott, C., Albu-Sch\u00e4ffer, A., Kugi, A., Hirzinger, G.: Impedance control for variable stiffness mechanisms with nonlinear joint coupling. In: IEEE Int. Conf. on Intelligent Robotic Systems, pp. 3796\u20133803 (2008)","DOI":"10.1109\/IROS.2008.4651079"},{"key":"12_CR38","doi-asserted-by":"crossref","unstructured":"Tien, L.L., Albu Sch\u00e4ffer, A., Hirzinger, G.: Mimo state feedback controller for a flexible joint robot with strong joint coupling. In: Int. Conf. on Robotics and Automation (ICRA), pp. 3824\u20133830 (2007)","DOI":"10.1109\/ROBOT.2007.364065"},{"key":"12_CR39","unstructured":"Weis, M.: Optimalsteuerung eines Robotergelenks mit einstellbarer passiver Steifigkeit. DLR and TU Karlsruhe Master Thesis (2009)"},{"key":"12_CR40","doi-asserted-by":"crossref","first-page":"761","DOI":"10.1016\/j.robot.2009.03.004","volume":"57","author":"S. Haddadin","year":"2009","unstructured":"Haddadin, S., Laue, T., Frese, U., Wolf, S., Albu-Sch\u00e4ffer, A., Hirzinger, G.: Kick it like a safe robot: Requirements for 2050. Robotics and Autonomous Systems: Special Issue on Humanoid Soccer Robots\u00a057, 761\u2013775 (2009)","journal-title":"Robotics and Autonomous Systems: Special Issue on Humanoid Soccer Robots"}],"container-title":["Springer Tracts in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-19457-3_12.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,5]],"date-time":"2025-03-05T05:43:03Z","timestamp":1741153383000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-19457-3_12"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011]]},"ISBN":["9783642194566","9783642194573"],"references-count":40,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-19457-3_12","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"value":"1610-7438","type":"print"},{"value":"1610-742X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011]]}}}