Stability and Robustness Analysis of a Two Layered Hierarchical Architecture for the Closed Loop Control of Robots in the Operational Space.

Michele Aicardi Andrea Caiti Giorgio Cannata Giuseppe Casalino Stability and Robustness Analysis of a Two Layered Hierarchical Architecture for the Closed Loop Control of Robots in the Operational Space. 2771-2778 1995 ICRA db/conf/icra/icra1995-3.html#AicardiCCC95