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Robot Manipulators: MAthematics, Programming, and Control. The MIT Press, (1981)Hybrid control of robot manipulators., and . ICRA, page 602-607. IEEE, (1985)Kinematic stability of hybrid position/force control for robots., , and . IROS, page 1138-1144. IEEE, (1998)The Hamilton wrist: a four-revolute-joint spherical wrist without singularities., , and . ICRA, page 902-907. IEEE Computer Society, (1989)A cross-country teleprogramming experiment., , , and . IROS (2), page 21-26. IEEE Computer Society, (1995)Hybrid Position Force Control of Robot Manipulator with an Instrumented Compliant Wrist., , and . ISER, volume 139 of Lecture Notes in Control and Information Sciences, page 244-270. Springer, (1989)A survey and the future., and . IEEE J. Robotics Autom., 3 (2): 89 (1987)Nonlinear Stability of Hybrid Control., , and . Int. J. Robotics Res., 17 (7): 792-806 (1998)Robotic Exploration of Surfaces With a Compliant Wrist Sensor., , , and . Int. J. Robotics Res., 12 (2): 107-120 (1993)Planning for Dexterous Manipulation with Sliding Contacts., and . Int. J. Robotics Res., 9 (3): 24-48 (1990)