@inproceedings{BrogliatoOrhant.1994,
  author	= {Brogliato, B. and Orhant, P.},
  title		= {On the transition phase in robotics_ impacts models, dynamics and control},
  booktitle	= {{IEEE} Int. conf. on Robotics and Automation},
  year		= {1994},
  month		= may,
}