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Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots https://journal.hep.com.cn/jocsu/EN/10.1007/s11771-020-4490-z
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Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots https://journal.hep.com.cn/jocsu/EN/10.1007/s11771-020-4490-z
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