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Stability and Robustness Analysis of a Two Layered Hierarchical Architecture for the Closed Loop Control of Robots in the Operational Space

Michele Aicardi, Andrea Caiti, Giorgio Cannata, Giuseppe Casalino. Stability and Robustness Analysis of a Two Layered Hierarchical Architecture for the Closed Loop Control of Robots in the Operational Space. In ICRA. pages 2771-2778, 1995.

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