Shinya Morinaga Kazuhiro Kosuge Compliant Motion Control of Manipulator's Redundant DOF based on Model-based Collision Detection System. 5212-5217 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1302545 db/conf/icra/icra2004-5.html#MorinagaK04