Junyao Gao Xueshan Gao Wei Zhu Jianguo Zhu Boyu Wei Fault-tolerant and high reliability space robot design and research. 2413-2417 2008 IJCNN http://dx.doi.org/10.1109/IJCNN.2008.4634133 conf/ijcnn/2008 db/conf/ijcnn/ijcnn2008.html#GaoGZZW08