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@inproceedings{TUW-112806,
    author = {Ott, Christian and Kugi, Andreas and Nakamura, Yoshihiko},
    title = {Resolving the Problem of Non-integrability of Nullspace Velocities for Compliance Control of Redundant Manipulators by using Semi-definite Lyapunov functions},
    booktitle = {Proceedings of the ICRA 08},
    year = {2008},
    url = {http://publik.tuwien.ac.at/files/pub-et_13823.pdf},
    note = {talk: ICRA 08, IEEE Int. Conference on Robotics and Automation, Pasadena, USA; 2008-05-19 -- 2008-05-23}
}