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Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

Jonathan Vorndamme, Moritz Schappler, Alexander Todtheide, Sami Haddadin. Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016. pages 3360-3367, IEEE, 2016. [doi]

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