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Author(s):
Braun, David J.; Petit, Florian; Huber, Felix; Haddadin, Sami; Smagt, Patrick van der; Albu-Schaffer, Alin; Vijayakumar, Sethu 
Title:
Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints 
Keywords:
brml 
Journal title:
IEEE Transactions on Robotics 
Year:
2013 
Journal issue:
99 
Pages contribution:
1--17