Dynamic Hybrid Position/ Force Control of Robot Manipulators: On-Line Estimatin of Unknown Constraint. - Tsuneo Yoshikawa; Akio Sudou (ISER, 1989)

Dynamic hybrid position/force control of robot manipulators: online estimation of unknown constraint. - Tsuneo Hoshikawa; Akio Sudou (ICRA, 1990)

Dynamic hybrid position/force control of robot manipulators-on-line estimation of unknown constraint. - Tsuneo Yoshikawa; Akio Sudou (IEEE Trans. Robotics Autom., 1993)