De Luca, A., & Flacco, F. (2010). Dynamic Gravity Cancellation and Regulation Control in Robots with Flexible Transmissions: Constant, Nonlinear, and Variable Stiffness. Department of Computer and System Sciences Antonio Ruberti Technical Reports, 2(11). Retrieved from https://rosa.uniroma1.it/rosa00/index.php/dis_technical_reports/article/view/8892