Vaheh Khachatouri Yeghiazarians Gerfried Zeichen Outline of a method for the integration of linguistically expressed control strategies into the robot controller. 45-57 1996 18 Robotics and Autonomous Systems 1-2 http://dx.doi.org/10.1016/0921-8890(96)00021-8 db/journals/ras/ras18.html#YeghiazariansZ96