@ARTICLE{zhakatayev2015closed, 
author={A. Zhakatayev and M. Rubagotti and H. A. Varol}, 
journal={IEEE Access}, 
title={Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control}, 
year={2015}, 
volume={3}, 
number={}, 
pages={235-248}, 
keywords={closed loop systems;elastic constants;human-robot interaction;manipulator dynamics;nonlinear control systems;open loop systems;optimal control;optimisation;predictive control;trajectory control;uncertain systems;VSA robots;ball throwing task;close-loop control framework;computational resources;design approach;external disturbances;human-robot interaction;input variables;intrinsic dynamics nonlinearity;model uncertainties;nonlinear model predictive control;open-loop optimal control;optimization algorithms;planar manipulator;reference trajectory generation;state variables;variable stiffness actuated robots;Closed loop systems;Design methodology;Heuristic algorithms;Human-robot interaction;Kinematics;Nonlinear systems;Predictive control;Robots;Embedded Optimization;Model Predictive Control;Optimization Algorithms;Robot Manipulation;Robot manipulation;Variable Stiffness Actuation;embedded optimization;model predictive control;optimization algorithms;variable stiffness actuation}, 
doi={10.1109/ACCESS.2015.2418157}, 
ISSN={2169-3536}, 
month={},}

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