@conference {2337,
	title = {Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)},
	year = {2015},
	pages = {5675 - 5681},
	address = {Seattle, USA, 25 - 30 May},
	keywords = {Haptics, Robotics},
	doi = {10.1109/ICRA.2015.7139994},
	author = {E. Farnioli and M Gabiccini and A. Bicchi}
}
