Emmanuel Nuno Romeo Ortega Nikita Barabanov Luis Basañez A Globally Stable PD Controller for Bilateral Teleoperators. 753-758 2008 24 IEEE Transactions on Robotics 3 http://dx.doi.org/10.1109/TRO.2008.921565 db/journals/trob/trob24.html#NunoOBB08