@booklet {braun2016compliant,
	title = {Compliant actuation for energy efficient impedance modulation},
	journal = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2016},
	pages = {636{\textendash}641},
	publisher = {{IEEE} \},
	author = {Braun, David J and Apte, S and Adiyatov, Olzhas and Dahiya, Abhinav and Hogan, Neville}
}
