William R. Hamel Sewoong Kim Renbin Zhou Arnold Lumsdaine Design and Testing of a Prototype Transmission-based Robot Servoactuator. 3628-3633 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308817 db/conf/icra/icra2004-4.html#HamelKZL04