%0 Conference Paper %B Proc. IEEE Int. Conf. on Robotics and Automation %D 1995 %T A Standard Form for the Dynamics of General Manipulation Systems %A A. Bicchi %A D Prattichizzo %K Haptics %K Robot Arms %K Robot Hands %B Proc. IEEE Int. Conf. on Robotics and Automation %P 2810-2815 %G eng