@conference {2121,
	title = {Active gathering of frictional properties from objects},
	booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)},
	year = {2014},
	pages = {3982 - 3987 },
	publisher = {IEEE},
	organization = {IEEE},
	address = {Chicago, USA},
	keywords = {Haptics, Robotics},
	doi = {10.1109/IROS.2014.6943122},
	author = {C. Rosales and A. Ajoudani and M Gabiccini and A. Bicchi}
}
