# Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid

> Research article (2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017) · cited 28× · AI/ML

**Wikidata**: [openalex:W2772638041](https://www.wikidata.org/wiki/openalex:W2772638041)  
**Source**: https://4ort.xyz/entity/distributed-torque-estimation-toward-low-latency-variable-stiffness-control-for-gear-driven-torque-sensorless-humanoid