@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}, }