Xin Xin Masahiro Kaneda Swing-Up Control for a 3-DOF Gymnastic Robot With Passive First Joint: Design and Analysis. 1277-1285 2007 23 IEEE Transactions on Robotics 6 http://dx.doi.org/10.1109/TRO.2007.909805 db/journals/trob/trob23.html#XinK07