@conference {CGBSB10,
	title = {VSA-HD: From the Enumeration Analysis to the Prototypical Implementation},
	booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems},
	year = {2010},
	month = {October},
	pages = {3676 - 3681},
	address = {St. Louis MO USA},
	keywords = {Embedded Control, Robotics},
	author = {M. G. Catalano and G. Grioli and F. Bonomo and R. Schiavi and A. Bicchi}
}
