@conference {BBLP93,
	title = {A variable structure approach to force/motion control of robot manipulators},
	booktitle = {Proc. Int. Conf. FAST - BIAS},
	year = {1993},
	address = {Milan, Italy, November 23-25 1993},
	keywords = {Robotics},
	author = {A. Balestrino and A. Bicchi and A. Landi and D Prattichizzo}
}
