@inproceedings{Nakanishi_IICIRS_2007,
  author =		 "Nakanishi, J. and Mistry, M. and Peters, J. and Schaal, S.",
  year =			 "2007",
  title =			 "experimental evaluation of task space position/orientation control towards compliant control for humanoid robots",
  booktitle =		 "ieee international conference on intelligent robotics systems (iros 2007)",
  key =			 "operational space control, quaternion, task space control, resolved motion rate control, resolved acceleration, force control",
  URL =			 "http://www-clmc.usc.edu/publications/T/nakanishi-IROS2007.pdf",
  crossref =		 "p3019"
}

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