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Passivity-based stability in explicit force control of robots

Ribin Balachandran, Mikael Jorda, Jordi Artigas, Jee-Hwan Ryu, Oussama Khatib. Passivity-based stability in explicit force control of robots. In 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017. pages 386-393, IEEE, 2017. [doi]

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