Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result

Mehmet C. Yildirim, Mohamadreza Sabaghian, Thore Goll, Clemens Kössler, Christoph Jähne, Abdalla Swikir, Andriy Sarabakha and Sami Haddadin

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