@article{ZavalaBrogliato.1999,
  author	= {Zavala-Rio, A. and Brogliato, B.},
  title		= {On the control of a one degree-of-freedom juggling robot},
  journal	= {Dynamics and Control},
  year		= {1999},
  volume	= {9},
  pages		= {67--90},
}