@conference {StevensH:1996, title = {{The Limitations of Independent Controller Design for a Multiple-Link Flexible Macro-Manipulator Carrying a Rigid Mini-Manipulator}}, booktitle = {Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments}, year = {1996}, month = {June}, pages = {93-99}, address = {Albuquerque, NM}, url = {http://www.stanford.edu/group/arl/cgi-bin/drupal/sites/default/files/public/publications/StevensH 96.pdf}, author = {H. D. Stevens and J. P. How} }