@article{Berry2016DirectionalSingularityRobust, title={Directional Singularity-Robust Torque Control for Gyroscopic Actuators}, author={Berry, A. and Lemus, D. and Babu{\v{s}}ka, R. and Vallery, H.}, journal={IEEE/ASME Transactions on Mechatronics}, volume={21}, number={6}, pages={2755--2763}, year={2016} }