# Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control

> Research article (IEEE Access, 2015) · cited 51× · AI/ML

**Wikidata**: [openalex:W2147666564](https://www.wikidata.org/wiki/openalex:W2147666564)  
**Source**: https://4ort.xyz/entity/closed-loop-control-of-variable-stiffness-actuated-robots-via-nonlinear-model-predictive-control