TY - CONF T1 - Optimality Principles in Variable Stiffness Control: the VSA Hammer T2 - 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems Y1 - 2011 A1 - M. Garabini A1 - A. Passaglia A1 - F. A. W. Belo A1 - P Salaris A1 - A. Bicchi KW - Robotics JF - 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems CY - S. Francisco, USA ER -