Dept. of Mech. Eng., National Taiwan Univ.Wang, Jiunn-CherngJiunn-CherngWangHuang, Han-PangHan-PangHuang2007-04-192018-06-282007-04-192018-06-281996-04http://ntur.lib.ntu.edu.tw//handle/246246/2007041910032010https://www.scopus.com/inward/record.uri?eid=2-s2.0-0029710177&partnerID=40&md5=d5aa7e20953b28e25ff26a99cb6c74efapplication/pdf433804 bytesapplication/pdfen-USjournal article10.1109/ROBOT.1996.509238http://ntur.lib.ntu.edu.tw/bitstream/246246/2007041910032010/1/00509238.pdf