@conference {2335,
	title = {On the Role of Robot Configuration in Cartesian Stiffness Control},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)},
	year = {2015},
	pages = {1010 - 1016},
	address = {Seattle, USA, 25 - 30 May},
	keywords = {Robotics},
	doi = {10.1109/ICRA.2015.7139300},
	author = {A. Ajoudani and N G Tsagarakis and A. Bicchi}
}
