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  author =		 "Peters, J. and Mistry, M. and Udwadia, F. E. and Schaal, S.",
  year =		 "2005",
  title =		 "A new methodology for robot control design",
  booktitle =		 "The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005)",
  key =			 "robot control, nonlinear control, gauss principle",
  URL =			 "",
  crossref =		 "p2575"

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