@Article{wang:ral:2022a,
  author    = {Wang, Yuquan and Dehio, Niels and Kheddar, Abderrahmane},
  title     = {On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts},
  journal   = {IEEE Robotics and Automation Letters},
  year      = {2022},
  volume    = {7},
  number    = {2},
  pages     = {3648--3655},
  month     = {April},
  doi       = {10.1109/LRA.2022.3145967},
  url       = {https://ieeexplore.ieee.org/document/9691802},
  publisher = {IEEE-INST Electrical Electronics Engineers Inc},
  address   = {445 Hoes Lane, Piscataway, NJ 08855-4141, USA}
}