@Article{KickElasticity-RAS-2009,
  author = {Sami Haddadin and Tim Laue and Udo Frese and Sebastian Wolf and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger},
  title = {Kick it with Elasticity: Safety and Performance in Human-Robot Soccer},
  year = {2009},
  journal = {Robotics and Autonomous Systems, Special Issue on Humanoid Soccer Robots},
  volume = {57},
  pages = {761--775},
  number = {8},
}