Zhijun Li Weidong Chen Jun Luo Adaptive compliant force-motion control of coordinated non-holonomic mobile manipulators interacting with unknown non-rigid environments. 1330-1344 2008 71 Neurocomputing 7-9 http://dx.doi.org/10.1016/j.neucom.2007.06.001 db/journals/ijon/ijon71.html#LiCL08