@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}
}
