\input zb-basic
\input zb-ioport
\iteman{io-port 70393644}
\itemau{Le Tien, Luc; Albu-Sch\"affer, Alin; De Luca, Alessandro; Hirzinger, Gerd}
\itemti{Friction observer and compensation for control of robots with joint torque measurement}
\itemso{IROS, 3789-3795 (2008).}
\itemcc{}
\itemut{}
\itemli{doi:10.1109/IROS.2008.4651049}
\end