Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator

Sang-Ho Hyon, Jun Morimoto, Gordon Cheng. Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA. pages 2705-2710, IEEE, 2008. [doi]