The Design of a Friction Compensation Control Architecture for a Heavy Lift Precision Manipulator in Contact with the Environment. - Justin R. Garretson; William T. Becker; Steven Dubowsky (ICRA, 2006)

A control architecture for a mobile heavy-lift precision manipulator with limited sensory information. - William T. Becker; Matthew DiCicco; Justin R. Garretson; Steven Dubowsky (Robotica, 2007)