Jing-Xin Shi Alin Albu-Schäffer Gerd Hirzinger Key Issues in the Dynamic Control of Lightweight Robots for Space and Terrestrial Applications. 490-497 1998 conf/icra/1998 ICRA db/conf/icra/icra1998-1.html#ShiAH98 http://dx.doi.org/10.1109/ROBOT.1998.677022