TY  - JOUR
AU  - Mercorelli, Paolo
AU  - Prattichizzo, Domenico
TI  - A geometric procedure for robust decoupling control of contact forces in robotic manipulation
JO  - Kybernetika
PY  - 2003
SP  - 433
EP  - 445
VL  - 39
IS  - 4
UR  - http://geodesic.mathdoc.fr/item/KYB_2003_39_4_a2/
LA  - en
ID  - KYB_2003_39_4_a2
ER  -