@article{volz2006ieee, title = {IEEE TRANSACTIONS ON ROBOTICS}, author = {VOLZ, RICHARD A and TARN, TJ and MACIEJEWSKI, ANTHONY A and LEE, SUKHAN and BICCHI, ANTONIO and DE LUCA, ALESSANDRO and LUH, PETER B and TAYLOR, RUSSELL H and BEKEY, GEORGE A and ARAI, HIROHIKO and others}, year = {2006}, doi = {} }