Simultaneous optimization of robot trajectory and nonlinear springs to minimize actuator torque

Nicolas Schmit, Masafumi Okada. Simultaneous optimization of robot trajectory and nonlinear springs to minimize actuator torque. In IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA. pages 2806-2811, IEEE, 2012. [doi]

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