@inproceedings{ames2014quadratic,
  title={Quadratic program based nonlinear embedded control of series elastic actuators},
  author={Ames, Aaron D and Holley, James},
  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},
  pages={6291--6298},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/CDC_CLF_motor_control_final.pdf},
  url_video = {https://youtu.be/rCyyjuDs1BQ}
}

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