@article{groothuis_modeling_2017,
	title = {Modeling {Robotic} {Manipulators} {Powered} by {Variable} {Stiffness} {Actuators}: {A} {Graph}-{Theoretic} and {Port}-{Hamiltonian} {Formalism}},
	volume = {33},
	issn = {1552-3098},
	shorttitle = {Modeling {Robotic} {Manipulators} {Powered} by {Variable} {Stiffness} {Actuators}},
	doi = {10.1109/TRO.2017.2668385},
	abstract = {This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a simple and straight-forward adaption the model when a manipulator's actuator morphology is changed. An example of a spatial three degree-of-freedom manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than the traditional Euler-Lagrange method.},
	number = {4},
	journal = {IEEE Transactions on Robotics},
	author = {Groothuis, S. S. and Stramigioli, S. and Carloni, R.},
	month = aug,
	year = {2017},
	keywords = {Actuators, Adaptation models, Compliant manipulators, Graph theory, Manipulators, Mathematical model, Symmetric matrices, actuator placement, actuators, compliance control, compliant actuators, generic compliant robotic manipulators, graph theory, kinematic pairs, manipulator actuator morphology, manipulator kinematics, modeling, modular approach, port-Hamiltonian formalism, spatial three degree-of-freedom manipulator, variable stiffness actuators (VSA)},
	pages = {807--818}
}

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