@inproceedings{chareyron:inria-00390411, TITLE = {{Position and Force Control of Nonsmooth Lagrangian Dynamical Systems without Friction}}, AUTHOR = {Chareyron, Sophie and Wieber, Pierre-Brice}, URL = {https://inria.hal.science/inria-00390411}, BOOKTITLE = {{International Workshop on Hybrid Systems Computation and Control}}, ADDRESS = {Zurich, Switzerland}, YEAR = {2005}, PDF = {https://inria.hal.science/inria-00390411/file/article.pdf}, HAL_ID = {inria-00390411}, HAL_VERSION = {v1}, }