@article{37880ee3ee154d9eae10d19be8813315,
title = "Improvement of Free Motion Operability for Slave Robot with Underactuated Joint in Bilateral System",
keywords = "Bilateral system, Two-Wheel driven mobile manipulator, null space control, operability, underactuated mechanism",
author = "Kiyotoshi Komuta and Toshiyuki Murakami",
year = "2013",
doi = "10.1541/ieejias.133.ES8_1",
language = "English",
volume = "133",
pages = "1--11",
journal = "ieej transactions on industry applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "8",
}