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Emmerich C, Nordmann A, Swadzba A, Steil JJ, Wrede S. Assisted Gravity Compensation to Cope with the Complexity of Kinesthetic Teaching on Redundant Robots. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. Karlsruhe; 2013. Available from: http://www.cor-lab.de/system/files/main_0.pdf

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