1. Estimation of angular velocity and acceleration from shaft encoder measurements;Belanger,1992
2. A passivity approach to controller-observer design for robots;Berghuis;University of Twente Int. Report 1050,1992
3. Global regulation of robots using only position measurement;Berghuis,1993
4. Computed torgue control via a nonlinear observer;Canudas,1990
5. An interative scheme for learning gravity compensation in flexible robot arms;de Luca,1992