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Model based in situ calibration of six axis force torque se..:

, In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids),
Chavez, Francisco Javier Andrade ; Traversaro, Silvio ; Pucci, Daniele. - p. 422-427 , 2016
Link: https://doi.org/10.1109/HUMANOIDS.2016.7803310