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Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

Yi Ren, Zhengsheng Chen, Yechao Liu, Yikun Gu, Minghe Jin, Hong Liu. Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics. J. Franklin Institute, 354(17):7767-7793, 2017. [doi]

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