@conference {FeatherstoneSK:1997,
	title = {{A General Contact Model for Dynamically-Decoupled Force/Motion Control}},
	booktitle = {Preprints of the ISER Proceedings},
	year = {1997},
	url = {http://www.stanford.edu/group/arl/cgi-bin/drupal/sites/default/files/public/publications/FeatherstoneSK 97.pdf},
	author = {Roy Featherstone and Stef Sonck and Oussama Khatib}
}
