@inproceedings{chareyro04,
  author	= {Chareyron, S. and Wieber, P. B.},
  title		= {Position and Force Control of Nonsmooth Lagrangian Dynamical Systems without Friction},
  booktitle	= {Submitted to the Control and Decision Conference},
  year		= {2004},
  pdf		= {wieber/cdc-2004.pdf},
  homepage	= {../people/wieber},
}