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    ICRA
    2007
    IEEE
    162views Robotics» more  ICRA 2007»
    Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints
    13 years 11 months ago
    Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints
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    — In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use...
    Gianluca Palli, Claudio Melchiorri, Thomas Wimb&ou...
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