BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

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Authors: Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin

Journal publisher: IEEE

Published year: 2022