ROMANSY 23-Robot Design, Dynamics and Control ISBN: 9783030583798 Proceedings of the 23rd CISM IFToMM Symposium, pp. 567–574, 20/09/2020-24/09/2020 info:cnr-pdr/source/autori:Bocchieri, Guido; Luzi, Luca; Pedrocchi, Nicola; Parenti Castelli, Vincenzo; Vertechy, Rocco/congresso_nome:Proceedings of the 23rd CISM IFToMM Symposium/congresso_luogo:/congresso_data:20%2F09%2F2020-24%2F09%2F2020/anno:2021/pagina_da:567/pagina_a:574/intervallo_pagine:567–574