author =		 "Ivaldi, S. and  Fumagalli, M. and  Randazzo, M. and  Nori, F. and  Metta, G. and  Sandini, G.",
  year =		 "2011",
  title =		 "Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: theory and implementation on the iCub",
  booktitle =		 "Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots",
  URL =			 "",
  pages =		 "521-528",
  crossref =		 "p10733"