Humanoid Robot's Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors.

Shintaro Komatsu, Yuya Nagamatsu, Tatsuya Ishikawa, Takuma Shirai, Kunio Kojima, Yohei Kakiuchi, Fumihito Sugai, Kei Okada, Masayuki Inaba

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