Transforming series elastic actuators into Variable Stiffness Actuators thanks to structured H∞ control

Neil Abroug, Edouard Laroche. Transforming series elastic actuators into Variable Stiffness Actuators thanks to structured H∞ control. In European Control Conference, ECC 2015, Linz, Austria, July 15-17, 2015. pages 734-740, IEEE, 2015. [doi]

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