Closed-loop form quantization algorithm with bounded accumulative error.

Kyoung Chul Koh Byoung Wook Choi Moon Ho Kang Bok Shin Ahn Closed-loop form quantization algorithm with bounded accumulative error. 927-942 2004 18 Advanced Robotics 9 http://dx.doi.org/10.1163/1568553042225741 db/journals/ar/ar18.html#KohCKA04