@inproceedings{mistry_operational_2011, title = {Operational {Space} {Control} of {Constrained} and {Underactuated} {Systems}}, author = {Mistry, M. and Righetti, L.}, booktitle = {Proceedings of {Robotics}: {Science} and {Systems}}, address = {Los Angeles, CA, USA}, month = jun, year = {2011}, doi = {10.15607/RSS.2011.VII.031}, url = {http://www.roboticsproceedings.org/rss07/p31.html}, month_numeric = {6} }