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The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation

Whang Cho, Delbert Tesar, Robert A. Freeman. The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation. In Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, USA, May 14-19, 1989. pages 1380-1387, IEEE, 1989. [doi]

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