Ott08'

@book{DBLP:books/sp/Ott08,
  author    = {Christian Ott},
  title     = {Cartesian Impedance Control of Redundant and Flexible-Joint
               Robots},
  publisher = {Springer},
  series    = {Springer Tracts in Advanced Robotics},
  volume    = {49},
  year      = {2008},
  isbn      = {978-3-540-69253-9},
  pages     = {1-167},
  ee        = {http://dx.doi.org/10.1007/978-3-540-69255-3},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}