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The fundamental concepts of robust compliant motion for rob..:

, In: Proceedings. 1986 IEEE International Conference on Robotics and Automation,
Kazerooni, H. ; Houpt, P. ; Sheridan, T. - p. 418,419,420,421,422,423,424,425,426,427 , 1986
Link: https://doi.org/10.1109/ROBOT.1986.1087683