# Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

> Research article (IEEE Transactions on Robotics, 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4392207836](https://www.wikidata.org/wiki/openalex:W4392207836)  
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