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Maples, J. A., and J. A. Becker, "Experiments in Force Control of Robotic Manipulators", Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, IEEE, IEEE Computer Society, pp. 695-702, April, 1986.
Maples, J. A., Force Control of Robotic Manipulators with Structural Flexibility, , Stanford, CA 94305, Stanford University, June, 1985.