@misc{indiciaeabe15c1ff8fa,
  title = {Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators},
  author = {Sicard, Pierre and Wen, John T. and Lanari, Leonardo},
  year = {1992},
  url = {https://ntrs.nasa.gov/citations/19930007519},
  note = {Source identifier: 19930007519}
}