T. Goto, K. Takeyasu, and T. Inoyama：Control Algorithm for Precision Insert Operation Robots
IEEE Transaction on System, Man and Cybernetics, Vol. SMC-10, No.1, pp.19-25, 1980.
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K. Takeyasu, T. Goto, and T. Inoyama：Precision Insertion Control Robot and Its Application
Journal of Engineering for Industry, Vol. 98, No. 4, pp. 1313-1318, 1976.
