Low-Input Accurate Periodic Motion of an Underactuated Mechanism: Mass Distribution and Nonlinear Spring Shaping. - Andrea Tilli; Elena Ruggiano; Alessandro Bosso; Alessandro Samorì (AIM, 2021)

Periodic Motion Optimization for an Underactuated Mechanical System through Synergistic Structure-Control Design. - Andrea Tilli; Alessandro Bosso; Elena Ruggiano; Alessandro Samorì (MED, 2021)