@ARTICLE{c.a.monje2009humanoidrobotrh-1,
TITLE = {Humanoid Robot RH-1 for Collaborative Tasks. A Control Architecture for Human-Robot Cooperation},
JOURNAL = {Applied Bionics and Biomechanics},
VOLUME = {5},
NUMBER = {4},
PAGES = {225 - 234},
YEAR = {2009},
AUTHOR = {C.A. Monje, P. Pierro, C. Balaguer}
}