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The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot

Kaixian Ba, Bin Yu, Qixin Zhu, Zhengjie Gao, Guoliang Ma, Zhengguo Jin, Xiangdong Kong. The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot. J. Franklin Institute, 356(16):9232-9253, 2019. [doi]

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