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Controllability and observability of an n-link underactuated planar robot with different actuator-sensor configurations: Active intermediate joint or joints

Xin Xin. Controllability and observability of an n-link underactuated planar robot with different actuator-sensor configurations: Active intermediate joint or joints. In 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016. pages 821-826, IEEE, 2016. [doi]

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