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In the long history of robotics research, the most prominent problem has always been, to develop robots that can safely operate in human-centered environments. One way towards the goal of a safe, and human-friendly robot, is to incorporate more and more of the flexibility that can be found in humans, by mimicking the internal mechanisms. In this work we propose a scalable joint-space control scheme based on computed torque control for an anthropomimetic robot. To achieve this, the dynamicdoi:10.1109/robio.2011.6181620 dblp:conf/robio/JantschSWDK11 fatcat:xqfbsdpdfffohmi3skz3h6sc7m