@article{Albu-SchaefferHadOttSte2007,
	author = {Albu-Schäffer, Alin and Haddadin, Sami and Ott, Christian and Stemmer, Andreas and Wimböck, Thomas and Hirzinger, Gerd},
	title = {The DLR lightweight robot: design and control concepts for robots in human environments},

        journal = {Industrial Robot: An International Journal},
	year = {2007},

        volume = {34},


        number = {5},

        pages = {376--385},


        doi = {10.1108/01439910710774386},




	
}