@inproceedings{gori2012dforc,
  title={DForC: a real-time method for reaching, tracking and obstacle avoidance in humanoid robots},
  author={Gori, Ilaria and Pattacini, Ugo and Nori, Francesco and Metta, Giorgio and Sandini, Giulio},
  booktitle={2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)},
  pages={544--551},
  year={2012},
  organization={IEEE}
}

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