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Maples, J. A., Force Control of Robotic Manipulators with Structural Flexibility, , Stanford, CA 94305, Stanford University, June, 1985.
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.