@BOOK{s.morante2015advancesinintelligent, CHAPTER = {Force-Sensorless Friction and Gravity Compensation for Robots}, TITLE = {Advances in Intelligent Systems and Computing Vol 418}, PUBLISHER = {Springer International Publishing}, ISBN = {978-3-319-27148-4}, CITY = {}, PAGES = {57 - 68}, YEAR = {2015}, AUTHOR = {S. Morante, J.G. Victores, S. Martinez, C. Balaguer} }