Geodesic
Controllability and observability of manipulators with elastic joints
Sibirskij žurnal industrialʹnoj matematiki, Tome 7 (2004) no. 1, pp. 109-113.

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M. M. Semenova. Controllability and observability of manipulators with elastic joints. Sibirskij žurnal industrialʹnoj matematiki, Tome 7 (2004) no. 1, pp. 109-113. http://geodesic.mathdoc.fr/item/SJIM_2004_7_1_a9/

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