Robust and adaptive position/force stabilization of robotic manipulators in contact tasks. - Yuri Ekalo; Miomir Vukobratovic (Robotica, 1993)

Stabilization of robot motion and contact force interaction for third-order motor dynamics. - Yuri Ekalo; Miomir Vukobratovic (J. Intell. Robotic Syst., 1994)

Quality of stabilization of robot interacting with dynamic environment. - Yuri Ekalo; Miomir Vukobratovic (J. Intell. Robotic Syst., 1995)

New approach to control of robotic manipulators interacting with dynamic environment. - Miomir Vukobratovic; Yuri Ekalo (Robotica, 1996)

Impedance Control as a Particular Case of the Unified Approach to the Control of Robots Interacting with a Dynamic Known Environment. - Miomir Vukobratovic; Aleksandar G. Rodic; Yuri Ekalo (J. Intell. Robotic Syst., 1997)

Contribution to the Position/Force Control of Manipulation Robots Interacting with Dynamic Environment - A Generalization. - Miomir Vukobratovic; Radoslav Stojic; Yuri Ekalo (Autom., 1998)

Dynamics and Robust Control of Robot-Environment Interaction - Miomir Vukobratovic; Dragoljub Surdilovic; Yury Ekalo; Dusko Katic (World Scientific, 2009)