David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, P. Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar. Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Transactions on Robotics, 29(5):1085-1101, 2013. [doi]
Abstract is missing.