Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints

DJ Braun, F Petit, F Huber, S. Haddadin, Patrick van der Smagt, Alin Albu-Schaeffer and S Vijayakumar

IEEE Transactions on Robotics, 99(5)

2013 · doi: 10.1109/TRO.2013.2271099

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