Arash Fanaei Mohammad Farrokhi Robust adaptive neuro-fuzzy controller for hybrid position/force control of robot manipulators in contact with unknown environment. 125-144 2006 17 Journal of Intelligent and Fuzzy Systems 2 http://iospress.metapress.com/openurl.asp?genre=article&issn=1064-1246&volume=17&issue=2&spage=125 db/journals/jifs/jifs17.html#FanaeiF06