try another link

Author: gonzalocasas

src/compas_fab/robots/wrench.py

@@ -366,7 +366,7 @@ def gravity_compensated(self, ft_sensor_frame, mass, center_of_mass):
         ----------
         .. [1] Vougioukas S., *Bias Estimation and Gravity Compensation For
             Force-Torque Sensors*,
-            Available at: https://www.researchgate.net/publication/253989945_Bias_Estimation_and_Gravity_Compensation_For_Force-Torque_Sensors
+            Available at: https://www.semanticscholar.org/paper/Bias-Estimation-and-Gravity-Compensation-For-Vougioukas/900c5de4ac54cf28df816584264fa0de71c4817f
 
         """
         # transform gravity vector to FT Sensor coordinate system (FTSCS)