Paper  bibtex   

@Conference{	  caccavale1998557,
  author	= {Caccavale, F. and Chiacchio, P. and Chiaverini, S.},
  title		= {Quaternion-based regulator for cooperative manipulators},
  journal	= {IEEE Conference on Control Applications - Proceedings},
  year		= {1998},
  volume	= {1},
  pages		= {557-561},
  note		= {cited By 6},
  url		= {https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032301235&partnerID=40&md5=92b9ef95a6af5106ec223dc6d7e6581f},
  document_type	= {Conference Paper},
  source	= {Scopus}
}