Kenneth Salisbury, William T. Townsend, Brian S. Eberman, David M. Dipietro. Preliminary design of a whole-arm manipulation system (WAMS). In Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, USA, April 24-29, 1988. pages 254-260, IEEE, 1988. [doi]
Abstract is missing.