Bang-bang impact control using hybrid impedance/time-delay control. Lee, E., Park, J., Loparo, K. A., Schrader, C. B., & Chang, P. H. IEEE/ASME Trans. Mechatron., 8(2):272–277, June, 2003.
doi  bibtex   
@Article{SCC.Lee.Park.ea2003,
  author    = {Lee, Eunjeong and Park, Juyi and Loparo, K. A. and Schrader, C. B. and Chang, Pyung Hun},
  title     = {Bang-bang impact control using hybrid impedance/time-delay control},
  journal   = {IEEE/ASME Trans. Mechatron.},
  year      = {2003},
  volume    = {8},
  number    = {2},
  pages     = {272--277},
  month     = jun,
  doi       = {10.1109/TMECH.2003.812849},
  owner     = {Shubhendu Bhasin},
  timestamp = {2008.10.30},
}

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