@inproceedings{powell2014hierarchical,
  title={Hierarchical control of series elastic actuators through control {L}yapunov functions},
  author={Powell, Matthew J and Ames, Aaron D},
  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},
  pages={2986--2992},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/cdc2014_sea_stability.pdf}
}

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