Yuichi Chida, Yasuhiko Kaku, Tsutomu Mita. On the force/trajectory control of robot arms. Advanced Robotics, 2(4):369-375, 1987. [doi]
@article{ChidaKM87,
title = {On the force/trajectory control of robot arms},
author = {Yuichi Chida and Yasuhiko Kaku and Tsutomu Mita},
year = {1987},
doi = {10.1163/156855388X00056},
url = {http://dx.doi.org/10.1163/156855388X00056},
researchr = {https://researchr.org/publication/ChidaKM87},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {2},
number = {4},
pages = {369-375},
}