where q d {\displaystyle {\boldsymbol {q}}_{\mathrm {d} }} denotes the desired joint angular position, K {\displaystyle {\boldsymbol {K}}} and D {\displaystyle {\boldsymbol {D}}} are the control parameters, and M ^ {\displaystyle {\hat {\boldsymbol {M}}}} , c ^ {\displaystyle {\hat {\boldsymbol {c}}}} , g ^ {\displaystyle {\hat {\boldsymbol {g}}}} , and h ^ {\displaystyle {\hat {\boldsymbol {h}}}} are the internal model of the corresponding mechanical terms.