Tool Compensation in Walk-Through Programming for Admittance-Controlled Robots. Talignani Landi, C.; Ferraguti, F.; Secchi, C.; and Fantuzzi, C. In In Proceedings of IEEE Industrial Electronics Society (IECON), October 2016, Florence, Italy.
bibtex   
@InProceedings{talignani2016iecon,
  Title                    = {Tool Compensation in Walk-Through Programming for Admittance-Controlled Robots},
  Author                   = {Talignani Landi, C. and Ferraguti, F. and Secchi, C. and Fantuzzi, C.},
  Booktitle                = {In Proceedings of IEEE Industrial Electronics Society (IECON)},
  Year                     = {October 2016, Florence, Italy}
}
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