Basis-motion torque composition approach: generation of feedforward inputs for control of multi-joint robots. - Masahiro Sekimoto; Sadao Kawamura; Tomoya Ishitsubo; Shinsuke Akizuki; Masayuki Mizuno (IROS, 2009)

Basis-motion torque composition approach: Generation of motions with different velocity profiles among joints. - Masahiro Sekimoto; Sadao Kawamura; Tomoya Ishitsubo (IROS, 2010)