@misc{indiciaea48762577aa9,
  title = {A passivity based controller for free base manipulators},
  author = {Chuang, C.-H. and Mittal, Manoj and Juang, Jer-Nan},
  year = {1993},
  url = {https://ntrs.nasa.gov/citations/19930067456},
  note = {Source identifier: 19930067456}
}