Mutsuhiro Terauchi Yoshiyuki Tanaka Toshio Tsuji Real-Time Hand and Eye Coordination for Flexible Impedance Control of Robot Manipulator. 303-318 2008 conf/robvis/2008 RobVis http://dx.doi.org/10.1007/978-3-540-78157-8_23 db/conf/robvis/robvis2008.html#TerauchiTT08