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        Journal: Appl. Sci., 2023
        Volume: 13 
                	Number: 6939 
                
        
        Article:
        Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots 
        Authors: 
       	by
                    Michele Tonan, Alberto Doria, Matteo Bottin and Giulio Rosati        
        Link:
        https://www.mdpi.com/2076-3417/13/12/6939
        
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