Masahiro Nohmi Dragomir N. Nenchev Masaru Uchiyama Momentum Control of a Tethered Space Robot through Tether Tension Control. 920-925 1998 conf/icra/1998 ICRA db/conf/icra/icra1998-1.html#NohmiNU98 http://dx.doi.org/10.1109/ROBOT.1998.677105