On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback - researchr publication authors

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Mehdi Benallegue, Rafael Cisneros 0001, Abdelaziz Benallegue, Arnaud Tanguy, Adrien Escande, Mitsuharu Morisawa, Fumio Kanehiro. On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021. pages 6262-6269, IEEE, 2021. [doi]

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