%0 Conference Paper %B IEEE/RSJ International Conference on Intelligent RObots and Systems %D 2010 %T VSA-HD: From the Enumeration Analysis to the Prototypical Implementation %A M. G. Catalano %A G. Grioli %A F. Bonomo %A R. Schiavi %A A. Bicchi %K Embedded Control %K Robotics %B IEEE/RSJ International Conference on Intelligent RObots and Systems %C St. Louis MO USA %P 3676 - 3681 %8 October %G eng