Louis L. Whitcomb Suguru Arimoto Tomohide Naniwa Fumio Ozaki Experiments in Adaptive Model-Based Force Control. 1846-1853 1995 conf/icra/1995 ICRA db/conf/icra/icra1995-2.html#WhitcombANO95 http://dx.doi.org/10.1109/ROBOT.1995.526020