1 Sensitivity of the effort model with respect to the actuator dy-namics. Berret, B.; Chiovetto, E.; Nori, F.; and Pozzo, T.
bibtex   
@article{berret1,
  title={1 Sensitivity of the effort model with respect to the actuator dy-namics},
  author={Berret, Bastien and Chiovetto, Enrico and Nori, Francesco and Pozzo, Thierry}
}
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