@article{caccavale2008six-dof,
	year         = 2008,
	author       = {Caccavale, F and Chiacchio, P. and Marino, A and Villani, L},
	title        = {Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators},
	journal      = {IEEE/ASME TRANSACTIONS ON MECHATRONICS},
	volume       = 13,
	keywords     = {Control; cooperative manipulators; robotics},
	doi          = {10.1109/TMECH.2008.2002816},
	pages        = {576--586},
	number       = 5
}

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