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Introducing elasticity in the mechanical design can endow robots with the ability of performing efficient and effective periodic motions. Yet, devising controllers that can take advantage of such elasticity is still an open challenge. This letter tackles an instance of this general problem, by proposing a control architecture for executing goal-oriented and efficient point-to-point periodic motions. This is achieved by (i) producing motor torques that excite intrinsic modal oscillations, anddoi:10.1109/lra.2021.3061345 fatcat:gqh376ssdrgrfmdodfz3cqzgfm