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Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Pietro Pustina, Cosimo Della Santina, Frédéric Boyer, Alessandro De Luca 0001, Federico Renda. Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics. IEEE Transactions on Robotics, 40:2098-2110, 2024. [doi]

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