@article {1233,
	title = {On Making Robots Understand Safety: Embedding Injury Knowledge into Control},
	journal = {International Journal of Robotics Research},
	volume = {31},
	year = {2012},
	pages = {1578-1602},
	keywords = {Robotics},
	doi = {10.1177/0278364912462256 },
	author = {S. Haddadin and S. Haddadin and A. Khoury and T. Rokahr and S. Parusel and R. Burgkart and A. Bicchi and A Albu-Schaeffer}
}
