# Improved dynamic formulation for decoupled cartesian admittance control and RCM constraint

> Research article (2016 IEEE International Conference on Robotics and Automation (ICRA), 2016) · cited 25× · AI/ML

**Wikidata**: [openalex:W2412073014](https://www.wikidata.org/wiki/openalex:W2412073014)  
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