%0 Journal Article
%A Mercorelli, Paolo
%A Prattichizzo, Domenico
%T A geometric procedure for robust decoupling control of contact forces in robotic manipulation
%J Kybernetika
%D 2003
%P [433]
%V 39
%N 4
%I mathdoc
%U http://geodesic.mathdoc.fr/item/KYB_2003__39_4_a2/
%G en
%F KYB_2003__39_4_a2