ARAI, H. Dynamic control of a manipulator with passive joints-Position control experiments by a prototype manipulator. Proc. IEEE International Workshop on Intelligent Robots and Systems. 1991, 935-940
ORIOLO, G. Free-joint manipulations : motion control under second-order nonholonomic constraints. Proc. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. 1991, 1248-1253
BROCKETT, R. W. Asymptotic stability and feedback stabilization. Differential Geometric Control Theory. 1983, 182-208
KANAYAMA, Y. A stable tracking control method for a nonholonomic mobile robots. Proc. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. 1991, 1231-1241