Ott, C., Beck, F., & Keppler, M. (2022). An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots. In 13th IFAC Symposium on Robot Control SYROCO 2022. Proceedings (pp. 113–119). Elsevier. https://doi.org/10.1016/j.ifacol.2023.01.142