# Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 22× · AI/ML

**Wikidata**: [openalex:W3127130536](https://www.wikidata.org/wiki/openalex:W3127130536)  
**Source**: https://4ort.xyz/entity/elastic-structure-preserving-control-for-compliant-robots-driven-by-agonistic-antagonistic-actuators-espaa