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RMPs for Safe Impedance Control in Contact-Rich Manipulatio:

, In: 2022 International Conference on Robotics and Automation (ICRA),
Shaw, Seiji ; Abbatematteo, Ben ; Konidaris, George - p. 2707-2713 , 2022
Link: https://doi.org/10.1109/ICRA46639.2022.9811986