Wei Song Mamoru Minami Fujia Yu Yanan Zhang Akira Yanou 3-D hand & eye-vergence approaching visual servoing with Lyapunouv-stable pose tracking. 5210-5217 2011 ICRA http://dx.doi.org/10.1109/ICRA.2011.5979749 conf/icra/2011 db/conf/icra/icra2011.html#SongMYZY11