... (2001), Single-mode Vibration Suppression for a Beam-Mass-Cart System Using Frontiers in Robotics, Automation and Control 284 −n1 intermediate configurations in single support and ST the ... this nonlinear optimization problem: twenty-four for the two intermediate configurations in single Frontiers in Robotics, Automation and Control 278 2.4. Impact model for the instantaneous ... moments vector Frontiers in Robotics, Automation and Control 270 Meeting. Ueberle, M. & Buss, M. (2002), Design, Control, and Evaluation of a New 6 DOF Haptic Device, Proceedings of the...