Robust control of a robot manipulator with nonlinearity. - Katsuhisa Furuta; Kazuhiro Kosuge; Osamu Yamano; Kageharu Nosaki (Robotica, 1984)

Coordinated motion control of robot arm based on virtual internal model. - Kazuhiro Kosuge; Masanobu Koga; Katsuhisa Furuta; Kageharu Nosaki (ICRA, 1989)

Coordinated motion control of robot arms based on the virtual internal model. - Masanobu Koga; Kazuhiro Kosuge; Katsuhisa Furuta; Kageharu Nosaki (IEEE Trans. Robotics Autom., 1992)