Wenyu Liang, Feng Zhao, Yan Wu, Junli Gao, Qinyuan Ren, and Tong Heng Lee, Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment, International Conference on Intelligent Robots and Systems (IROS-2020), Las Vegas, USA (Virtual), Oct 25-29, 2020
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