Exploiting variable stiffness in explosive movement tasks. Braun, D. J., Howard, M., & Vijayakumar, S. Robotics: Science and Systems VII, 2012.
Exploiting variable stiffness in explosive movement tasks [link]Paper  bibtex   
@article{braun_exploiting_2012,
	title = {Exploiting variable stiffness in explosive movement tasks},
	url = {http://books.google.com/books?hl=en&lr=&id=9-HxCwAAQBAJ&oi=fnd&pg=PA25&dq=%22task+where+we+demonstrate+that:+(i)+the+method%22+%22a+given+non-linear+system+and+a+generic+dynamic%22+%22(iii)+improving+the+energy+ef%EF%AC%81ciency+and+dynamic%22+%22or+jumping.+Additionally,+rhythmic+movements%22+&ots=070wG88E-q&sig=lZ6xizqxNqL0VeTcXmZSsNYMEDA},
	urldate = {2017-04-24TZ},
	journal = {Robotics: Science and Systems VII},
	author = {Braun, David J. and Howard, Matthew and Vijayakumar, Sethu},
	year = {2012},
	pages = {25}
}

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