The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench\n Polytope (FWP)
Romeo Orsolino(Italian Institute of Technology), Claudio Semini(Italian Institute of Technology), Carlos Mastalli(Italian Institute of Technology), Hongkai Dai(Tongji Hospital), Darwin G. Caldwell(Italian Institute of Technology), Michele Focchi(Italian Institute of Technology)
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