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Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation.

Fatih Emre TosunVolkan Patoglu
Published in: IEEE Trans. Robotics (2020)
Keyphrases
  • sufficient conditions
  • fixed point
  • lyapunov function
  • asymptotic stability
  • real time
  • linear systems
  • exponential stability
  • input output
  • neural network
  • optimal policy