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Sensorless Real Time Collision Detection for Robotic Manipu..:

, In: Proceedings of 2020 the 6th International Conference on Computing and Data Engineering,
Mao, Dachao ; Ge, Jingguo ; Chu, Zhaoqi.. - p. 237-242 , 2020
Link: https://dl.acm.org/doi/10.1145/3379247.3379254