@article{oai:repository.dl.itc.u-tokyo.ac.jp:00000060,
 author = {Arai, Hirohiko and Tanie, Kazuo and Tachi, Susumu},
 issue = {1},
 journal = {IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society},
 month = {Feb},
 note = {application/pdf},
 pages = {85--93},
 title = {Dynamic Control of a Manipulator with Passive Joints in Operational Space},
 volume = {9},
 year = {1993}
}