Active force-torque robot control without using wrist force-torque sensors. (English. Russian original) Zbl 1307.93277
J. Comput. Syst. Sci. Int. 51, No. 1, 147-168 (2012); translation from Izv. Ross. Akad. Nauk, Teor. Sist. Upr. 2012, No. 1, 149-170 (2012).