@article{AGazar_2021_CD,
  title = {Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback},
  journal = {IEEE Transactions on Robotics},
  volume = {37},
  number = {1},
  pages = {1-15},
  publisher = {IEEE},
  year = {2021},
  author = {Gazar, Ahmad and Nava, Gabriele and Chavez, Francisco Javier Andrade and Pucci, Daniele},
  doi = {10.1109/TRO.2020.3005547}
}