Bram Vanderborght, Björn Verrelst, Ronald Van Ham, Michaël Van Damme, Dirk Lefeber, Bruno Meira Y. Duran, Pieter Beyl. Exploiting Natural Dynamics to Reduce Energy Consumption by Controlling the Compliance of Soft Actuators. I. J. Robotic Res., 25(4):343-358, 2006. [doi]
Abstract is missing.