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    ICRA
    1993
    IEEE
    102views Robotics» more  ICRA 1993»
    Geometric Characteristics of Antagonistic Stiffness in Redundantly Actuated Mechanisms
    13 years 8 months ago
    Geometric Characteristics of Antagonistic Stiffness in Redundantly Actuated Mechanisms
    Download  robotics.hanyang.ac.kr
    Parallel closed-chainmechanical architectures allow for redundant actuation in the force domain. Antagonistic actuation, afforded by this input force redundancy, in conjunction wi...
    Byung-Ju Yi, Robert A. Freeman
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