# A new kinematic formulation of the RCM constraint for redundant torque-controlled robots

> Research article (2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017) · cited 40× · AI/ML

**Wikidata**: [openalex:W2773707091](https://www.wikidata.org/wiki/openalex:W2773707091)  
**Source**: https://4ort.xyz/entity/a-new-kinematic-formulation-of-the-rcm-constraint-for-redundant-torque-controlled-robots