J. Hernández, J.M. Garcia-Haro, S. Martinez, J. Lorente, C. Balaguer. Manipulation Balance Control System by Computer Vision Tools. RoboCity16 Open Conference on Future Trends in Robotics. RoboCity16 Open Conference on Future Trends in Robotics, ISBN: 978-84-608-8452-1, pages: 203 - 210, CSIC. 2016-05-26, Madrid, Spain. 2016.