# Modeling Robotic Manipulators Powered by Variable Stiffness Actuators: A Graph-Theoretic and Port-Hamiltonian Formalism

> Research article (IEEE Transactions on Robotics, 2017) · cited 21× · AI/ML

**Wikidata**: [openalex:W2593278979](https://www.wikidata.org/wiki/openalex:W2593278979)  
**Source**: https://4ort.xyz/entity/modeling-robotic-manipulators-powered-by-variable-stiffness-actuators-a-graph-theoretic-and-port-hamiltonian-formalism