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Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks

Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti. Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks. IEEE Robotics and Automation Letters, 1(1):130-136, 2016. [doi]

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