Shared control of multiple-manipulator, sensor-based telerobotic systems - Robert L. Williams II; F. Wallace Harrison; Donald L. Soloway (Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997, 1997)

Naturally-transitioning rate-to-force controller for manipulators - Robert L. Williams II; F. Wallace Harrison; Donald L. Soloway (Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA, April 22-28, 1996, 1996)