@ARTICLE{8598982,
	author={A. Zhakatayev and M. Rubagotti and H. A. Varol},
	journal={IEEE Robotics and Automation Letters},
	title={Energy-Aware Optimal Control of Variable Stiffness Actuated Robots},
	year={2019},
	volume={4},
	number={2},
	pages={330-337},
	keywords={Optimal control;Task analysis;Energy consumption;Planning;Robot kinematics;Power demand;Optimization and optimal control;energy and environment-aware automation;motion and path planning},
	doi={10.1109/LRA.2018.2890439},
	ISSN={2377-3766},
	month={April},
	}

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