@article{KYB_2003__39_4_a2,
     author = {Mercorelli, Paolo and Prattichizzo, Domenico},
     title = {A geometric procedure for robust decoupling control of contact forces in robotic manipulation},
     journal = {Kybernetika},
     pages = {[433]},
     publisher = {mathdoc},
     volume = {39},
     number = {4},
     year = {2003},
     mrnumber = {2024524},
     zbl = {1249.93046},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2003__39_4_a2/}
}