@article{Brogliato.ea.1998,
  author	= {Brogliato, B. and Rey, D. and Pastore, A. and Barnier, J.},
  title		= {Experimental comparison of nonlinear controllers for flexible joint manipulators},
  journal	= {Int. J. of Robotics Research},
  year		= {1998},
  volume	= {17},
  number	= {3},
  pages		= {260--281},
}