@article{SJIM_2004_7_1_a9,
     author = {M. M. Semenova},
     title = {Controllability and observability of manipulators with elastic joints},
     journal = {Sibirskij \v{z}urnal industrialʹnoj matematiki},
     pages = {109--113},
     publisher = {mathdoc},
     volume = {7},
     number = {1},
     year = {2004},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/SJIM_2004_7_1_a9/}
}