Le LT. PASSIVITY BASED ON ENERGY TANK FOR CARTESIAN IMPEDANCE CONTROL OF DLR SPACE ROBOTS WITH FLOATING BASE AND ELASTIC JOINTS. JCC [Internet]. 2018 Aug. 8 [cited 2024 May 8];34(1):49-62. Available from: https://vjs.ac.vn/index.php/jcc/article/view/11027