Bram Vanderborght Björn Verrelst Ronald Van Ham Michaël Van Damme Pieter Beyl Dirk Lefeber Development of a compliance controller to reduce energy consumption for bipedal robots. 419-434 2008 24 Auton. Robots 4 http://dx.doi.org/10.1007/s10514-008-9088-5 db/journals/arobots/arobots24.html#VanderborghtVHDBL08