Satoko Abiko Roberto Lampariello Gerd Hirzinger Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty. 1020-1025 2006 IROS http://dx.doi.org/10.1109/IROS.2006.281785 conf/iros/2006 db/conf/iros/iros2006.html#AbikoLH06