非惯性系下弹性欠驱动机器人动力学建模及应用
耿明超, 赵铁石, 赵飞, 刘晓, 苑飞虎,
Dynamics Model of Elastic Underacutated Robot in a Non-inertial Frame and Its Applicaitons
Geng Mingchao, Zhao Tieshi, Zhao Fei, Liu Xiao, Yuan Feihu,
中国机械工程 . 2014, (15): 2080 -2085 .