@conference{jain2010pod,
    title={{Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control}},
    author={Advait Jain and Charles C. Kemp},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year={2010}
}