@article {157,
	title = {Internal force analysis and load distribution for cooperative multi-robot manipulation},
	journal = {IEEE Transactions on Robotics (T-RO)},
	volume = {31},
	year = {2015},
	pages = {1238 - 1243},
	doi = {10.1109/TRO.2015.2459412},
	author = {S. Erhart and S. Hirche}
}
@conference {163,
	title = {An impedance-based control architecture for multi-robot cooperative dual-arm mobile manipulation},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year = {2013},
	address = {Tokyo},
	doi = {10.1109/IROS.2013.6696370},
	url = {;},
	author = {S. Erhart and D. Sieber and S. Hirche}
}
