@article{Zappi12,
author="Zappi, V. and Pistillo, A. and Calinon, S. and Brogni, A. and Caldwell, D. G.",
title="Music Expression with a Robot Manipulator Used as a Bidirectional Tangible Interface",
journal="EURASIP Journal on Audio, Speech, and Music Processing (SpringerOpen), Special Issue on Music Content Processing by and for Robots",
year="2012",
volume="2012",
number="2",
pages="1--11",
month="January"
}