Yusuke Ichijo Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles. 234-239 2014 CCA https://doi.org/10.1109/CCA.2014.6981357 conf/IEEEcca/2014 db/conf/IEEEcca/IEEEcca2014.html#IchijoMKF14