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Impedance control of a direct-drive manipulator without using force sensors

Susumu Tachi, Taisuke Sakaki, Hirohiko Arai, Shoichiro Nishizawa, Jose Felipe Pelaez-Polo. Impedance control of a direct-drive manipulator without using force sensors. Advanced Robotics, 5(2):183-205, 1990. [doi]

Authors

Susumu Tachi

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Taisuke Sakaki

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Hirohiko Arai

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Shoichiro Nishizawa

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Jose Felipe Pelaez-Polo

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