@article{1199,
  author       = {Schneider, Axel and Cruse, Holk and Schmitz, Josef},
  issn         = {1741-3176},
  journal      = {The International Journal of Robotics Research},
  number       = {9},
  pages        = {913--930},
  publisher    = {SAGE Publications},
  title        = {{Decentralized Control of Elastic Limbs in Closed Kinematic Chains}},
  doi          = {10.1177/0278364906068941},
  volume       = {25},
  year         = {2006},
}