@article{5027, title = {Operational Space Control: A Theoretical and Empirical Comparison}, author = {Nakanishi, J. and Cory, R. and Mistry, M. and Peters, J. and Schaal, S.}, journal = {International Journal of Robotics Research}, volume = {27}, number = {6}, pages = {737-757}, organization = {Max-Planck-Gesellschaft}, school = {Biologische Kybernetik}, month = jun, year = {2008}, doi = {10.1177/0278364908091463}, month_numeric = {6} }