Media type: E-Article Title: Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control Contributor: Keppler, Manuel; Loeffl, Florian; Wandinger, David; Raschel, Clara; Ott, Christian imprint: Institute of Electrical and Electronics Engineers (IEEE), 2021 Published in: IEEE Robotics and Automation Letters Language: Not determined DOI: 10.1109/lra.2021.3097079 ISSN: 2377-3766; 2377-3774 Keywords: Artificial Intelligence ; Control and Optimization ; Computer Science Applications ; Computer Vision and Pattern Recognition ; Mechanical Engineering ; Human-Computer Interaction ; Biomedical Engineering ; Control and Systems Engineering Origination: Footnote: