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Jiqian Xu, Huaizhen Wang, Qiankun Zhao, Yue Gao, Yingcai Wan, Lijin Fang. A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control. IEEE Robotics and Automation Letters, 8(12):8327-8334, December 2023. [doi]