Tao Pang, Jack Umenberger, Russ Tedrake. Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations. In IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021. pages 6476-6482, IEEE, 2021. [doi]
Abstract is missing.