@phdthesis{17753,
  author = {Tine Lefebvre},
  title = {Contact modelling, parameter identification and task planning for autonomous compliant motion using elementary contacts},
  year = {2003},
  journal = {Faculteit Toegepaste Wetenschappen},
  volume = {Ph.D.},
  month = {May 2003},
  publisher = {Katholieke Universiteit Leuven},
  address = {Belgium},
}