@article{BrogliatoOrhant.1998,
  author	= {Brogliato, B. and Orhant, P.},
  title		= {Contact stability analysis of a one degree-of-freedom robot},
  journal	= {Dynamics and Control},
  year		= {1998},
  volume	= {8},
  number	= {1},
  pages		= {37--53},
}