Tomohisa Oki Hiroki Nakanishi Kazuya Yoshida Whole-body motion control for capturing a tumbling target by a free-floating space robot. 2256-2261 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399591 conf/iros/2007 db/conf/iros/iros2007.html#OkiNY07