Friction observer and compensation for control of robots with joint torque measurement

Luc Le Tien, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger. Friction observer and compensation for control of robots with joint torque measurement. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France. pages 3789-3795, IEEE, 2008. [doi]

@inproceedings{TienALH08,
  title = {Friction observer and compensation for control of robots with joint torque measurement},
  author = {Luc Le Tien and Alin Albu-Schäffer and Alessandro De Luca and Gerd Hirzinger},
  year = {2008},
  doi = {10.1109/IROS.2008.4651049},
  url = {http://dx.doi.org/10.1109/IROS.2008.4651049},
  researchr = {https://researchr.org/publication/TienALH08},
  cites = {0},
  citedby = {0},
  pages = {3789-3795},
  booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France},
  publisher = {IEEE},
}