@inproceedings{ Author = {D. J. Braun and F. Petit and F. Huber and S. Haddadin and P. van der Smagt and A. Albu-Schaeffer and S. Vijayakumar}, Title = {Optimal Torque and Stiffness Control in Compliantly Actuated Robots}, Year = {2012}, Booktitle = {Proc. IEEE-RSJ IROS} }