@article{caccavale2008six,
	title        = {Six-dof impedance control of dual-arm cooperative manipulators},
	author       = {Caccavale, Fabrizio and Chiacchio, Pasquale and Marino, Alessandro and Villani, Luigi},
	year         = 2008,
	journal      = {IEEE/ASME Transactions On Mechatronics},
	publisher    = {IEEE},
	volume       = 13,
	number       = 5,
	pages        = {576--586}
}

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