... Actuator forces related to acceleration ( Δ T = 0.3   s ) 18 08 2008 10 02 2009 12 11 2009 12 11 2009 aircraft manufacture riveting robot dynamics robot kinematics robotic assembly In the past two decades, researchers have become increasingly...

... ∕ s at the output shaft. Backlash in the gear train is minimal and ignored in simulation, but the high friction is included and utilized by the joint controllers to provide damping to the proportional controllers. 21 02 2007 14 06 2007 26 11 2007 legged locomotion robot...