TY  - RPRT
TI  - A passivity based controller for free base manipulators
AU  - Chuang, C.-H.
AU  - Mittal, Manoj
AU  - Juang, Jer-Nan
PY  - 1993
UR  - https://ntrs.nasa.gov/citations/19930067456
ID  - 19930067456
ER  -