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Robust set invariance for implicit robot force control in presence of contact model uncertainty

Matteo Parigi Polverini, Davide Nicolis, Andrea Maria Zanchettin, Paolo Rocco. Robust set invariance for implicit robot force control in presence of contact model uncertainty. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017. pages 6393-6399, IEEE, 2017. [doi]

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