Robust and adaptive position/force stabilization of robotic manipulators in contact tasks

@article{Ekalo1993RobustAA,
  title={Robust and adaptive position/force stabilization of robotic manipulators in contact tasks},
  author={Yuri Ekalo and Miomir Vukobratovic},
  journal={Robotica},
  year={1993},
  volume={11},
  pages={373-386}
}