@booklet {NASAsemiannual:1990, title = {{NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems}}, number = {9}, year = {1990}, month = {August}, publisher = {Stanford University Aerospace Robotics Lab}, address = {Stanford, CA 94305}, author = {Robert H. Cannon Jr. and Marc Ullman and Ross Koningstein and William Dickson and Warren Jasper and Lawrence Alder} }