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Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Patrick M. Wensing, Albert Wang, Sangok Seok, David Otten, Jeffrey Lang, Sangbae Kim. Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots. IEEE Transactions on Robotics, 33(3):509-522, 2017. [doi]

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