A Novel Formulation for Adaptive Computed Torque Control Enabling Low Feedback Gains in Highly Dynamical Tasks

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Authors: Giorgio Simonini, Marco Baracca, Tommaso V. Cavaliere, Antonio Bicchi, Paolo Salaris

Journal title: IEEE Access

Journal number: 13

Journal publisher: Institute of Electrical and Electronics Engineers Inc.

Published year: 2025

Published pages: 69898-69909

DOI identifier: 10.1109/access.2025.3561635

ISSN: 2169-3536