Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation. - David V. Gealy; Stephen McKinley; Brent Yi; Philipp Wu; Phillip R. Downey; Greg Balke; Allan Zhao; Menglong Guo; Rachel Thomasson; Anthony Sinclair; Peter Cuellar; Zoe McCarthy; et al. (ICRA, 2019)