Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation

Fatih Emre Tosun, Volkan Patoglu. Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation. IEEE Transactions on Robotics, 36(3):757-772, 2020. [doi]

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