@inproceedings{Colome_icra13,
  author = {Colom{\'e}, A. and Pardo, D. and Aleny{\`a}, G. and Torras, C.},
  title = {External force estimation during compliant robot manipulation},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  year = {2013},
  pages = {3535-3540},
  doi = {10.1109/ICRA.2013.6631072},
  url = {http://www.iri.upc.edu/publications/show/1378},
  file = {http://www.iri.upc.edu/download/scidoc/1378}
}



[DOI]