@conference {2119,
	title = {Haptic Exploration of Unknown Surfaces with Discontinuities},
	booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)},
	year = {2014},
	month = {09/2014},
	pages = {1255 - 1260},
	address = {Chicago, USA},
	keywords = {Haptics, Robotics},
	doi = {10.1109/IROS.2014.6942718},
	url = {http://kormushev.com/papers/Jamisola_IROS-2014.pdf},
	author = {Jamisola, R. S. and Kormushev, P. and A. Bicchi and D. G. Caldwell}
}
