@article{optimallycontrollingthetimingofenergy,
  title = {Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept},
  author = {Edmundo Pozo Fortunić and Mehmet C. Yildirim and Dennis Ossadnik and Abdalla Swikir and Saeed Abdolshah and Sami Haddadin},
  year = {2023},
  eprint = {2309.07873},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.07873v1},
}