Title:Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle using Parallel Redundant ActuationAuthor(s):Christoph Stoeffler, Shivesh Kumar, Heiner Peters, Olivier Brüls, Andreas Müller, Frank KirchnerBooktitle:IEEE 18th International Conference on Humanoid Robots (Humanoids), November 6-9, 2018, Beijing, ChinaPage Reference:7 page(s)Publishing:2018