@article{Villani.ea.1999,
  author	= {Villani, L. and Canudas, C. and Brogliato, B.},
  title		= {An exponentially stable adaptive force/position controller for robot manipulators},
  journal	= {{IEEE} Transactions on Automatic Control},
  year		= {1999},
  volume	= {44},
  number	= {4},
  pages		= {798--802},
}