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Improving Force Control Performance by Computational Elimination of Non-Contact Forces/Torques. Proc. of IEEE International Conference on Robotics and Automation Pasadena. :2617–2622.. 2008.
Joint Actuation Based on Highly Dynamic Torque Transmission Elements - Concept and Control Approaches. Proc. of IEEE International Conference on Robotics and Automation. :2777–2784.. 2011.
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