Robust Position and Force Control of Robotics Using Slide Mode. - Robert R. Y. Zhen; Andrew A. Goldenberg (ICRA, 1994)

Approaches to robust force control of manipulators. - Robert R. Y. Zhen; Andrew A. Goldenberg (IROS, 1994)

An Adaptive Approach to Constrained Robot Motion Control. - Robert R. Y. Zhen; Andrew A. Goldenberg (ICRA, 1995)

Asymptotic robust constrained robot motion control. - Robert R. Y. Zhen; Andrew A. Goldenberg (ICRA, 1996)