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  _____    __   __    ____       ___       _____  
 /  ___||  \ \\/ //  |  _ \\    / _ \\    / ___// 
| // __     \ ` //   | |_| ||  / //\ \\   \___ \\ 
| \\_\ ||    | ||    | .  //  |  ___  ||  /    // 
 \____//     |_||    |_|\_\\  |_||  |_|| /____//  
  `---`      `-`'    `-` --`  `-`   `-` `-----`

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Text this: CONTACT FORCE AND POSITION CONTROL IN CONSTRAINED ROBOTS : THEORY AND EXPERIMENTS