@conference {1239,
	title = {Towards variable impedance assembly: the VSA peg-in-hole},
	booktitle = {IEEE-RAS International Conference on Humanoid Robots},
	year = {2012},
	address = {Osaka, Japan},
	keywords = {Robotics},
	author = {L. Balletti and A. Rocchi and F. A. W. Belo and M. G. Catalano and M. Garabini and G. Grioli and A. Bicchi}
}
