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Experiments in End-Point Control of Manipulators with Elastic Drives, , Stanford, CA 94305, Stanford University, May, 1988.
"Experimental Implementation of a Nonlinear Estimator in the Control of Flexible Joint Manipulators", Proceedings of the IFAC Aerospace Conference, Tsukuba, Japan, July, 1989.
"Experiments in Advanced Control Concepts for Space Robotics: An Overview of the Stanford Aerospace Robotics Laboratory", Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Keystone, CO, American Astronautical Society, pp. 417-434, February, 1987.
"Experiments on the End-Point Control of a Two-Link Robot with Elastic Drives", Proceedings of the AIAA Guidance, Navigation and Control Conference, Williamsburg, VA, pp. 19-27, August, 1986.
"Initial Experiments on the End-Point Control of a Two-Link Manipulator with Flexible Tendons", Proceedings of the ASME Winter Annual Meeting, Miami Beach, FL, November, 1985.