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Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems

Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger. Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 1387-1393, IEEE, 2005.

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