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ORCIDBeom Hee Lee 0001
Bum Hee Lee – Bum-Hee Lee
Person information
- affiliation: Seoul National University, Korea
Other persons with the same name
- Beom Hee Lee 0002 — LG Electronics Company, Mobile Communication R&D, Seoul, Korea (and 1 more)
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2010 – 2019
- 2019
[j55]Hyunki Hong
, Hyeonwoo Yu, Beom Hee Lee:
Regeneration of Normal Distributions Transform for Target Lattice Based on Fusion of Truncated Gaussian Components. IEEE Robotics Autom. Lett. 4(2): 684-691 (2019)- 2018
- [c59]H. W. Yu, Beom Hee Lee:
A Variational Feature Encoding Method of 3D Object for Probabilistic Semantic SLAM. IROS 2018: 3605-3612 - [i1]H. W. Yu, Beom Hee Lee:
A Variational Feature Encoding Method of 3D Object for Probabilistic Semantic SLAM. CoRR abs/1808.10180 (2018) - 2017
- [j54]Beom Hee Lee, Jae D. Jeon, Jung H. Oh:
Velocity obstacle based local collision avoidance for a holonomic elliptic robot. Auton. Robots 41(6): 1347-1363 (2017) - [j53]Gyu-Ho Eoh, Jaedo Jeon, Junghyun Oh, Beom Hee Lee:
Cooperative object transportation using parallel line formation with a circular shift. Robotica 35(6): 1341-1364 (2017) - [c58]Hyunki Hong, Beom Hee Lee:
Probabilistic normal distributions transform representation for accurate 3D point cloud registration. IROS 2017: 3333-3338 - [c57]H. W. Yu, Beom Hee Lee:
A variational approach for 3D object classification with retrieval of missing data. IROS 2017: 5922-5927 - [c56]H. W. Yu, Beom Hee Lee:
A Bayesian approach to terrain map inference based on vibration features. MFI 2017: 272-277 - 2016
- [j52]Seung-Hwan Lee, Gyu-Ho Eoh, Beom Hee Lee:
Relational FastSLAM: an improved Rao-Blackwellized particle filtering framework using particle swarm characteristics. Robotica 34(6): 1282-1296 (2016) - [j51]Ji W. Kim, Beom Hee Lee:
Robust and fast 3-D scan registration using normal distributions transform with supervoxel segmentation. Robotica 34(7): 1630-1658 (2016) - [c55]Hunsue Lee, Junghyun Oh, Jaedo Jeon, Beom Hee Lee:
Efficient Deployment of Energy-constrained Unmanned Aerial Vehicles in 3-dimensional Space. ICINCO (2) 2016: 446-451 - 2015
- [c54]H. S. Lee, Jung H. Oh, Beom Hee Lee:
Design and implementation for multiple-robot deployment in intelligent space. ETFA 2015: 1-4 - [c53]H. S. Lee, J. D. Jeon, Beom Hee Lee:
An efficient cooperative deployment of robots for multiple tasks. ICRA 2015: 5419-5425 - 2013
- [j50]Seung-Hee Lee, Heon-Cheol Lee, Beom Hee Lee:
A scan restoration method for robust polar scan matching in dynamic environments. Adv. Robotics 27(11): 877-891 (2013) - [j49]Heon-Cheol Lee, Beom Hee Lee:
Enhanced-spectrum-based map merging for multi-robot systems. Adv. Robotics 27(16): 1285-1300 (2013) - [j48]Gyu-Ho Eoh, Jeong S. Choi, Beom Hee Lee:
Faulty robot rescue by multi-robot cooperation. Robotica 31(8): 1239-1249 (2013) - 2012
- [j47]Heon-Cheol Lee, Touahmi Yaniss, Beom Hee Lee:
Grafting: A Path Replanning Technique for Rapidly-Exploring Random Trees in Dynamic Environments. Adv. Robotics 26(18): 2145-2168 (2012) - [j46]Heon-Cheol Lee, Seung-Hwan Lee, Myoung Hwan Choi, Beom Hee Lee:
Probabilistic map merging for multi-robot RBPF-SLAM with unknown initial poses. Robotica 30(2): 205-220 (2012) - 2011
- [j45]Heon-Cheol Lee, Beom Hee Lee:
Improved Feature Map Merging Using Virtual Supporting Lines for Multi-Robot Systems. Adv. Robotics 25(13-14): 1675-1696 (2011) - [j44]Jimin Kim, Beom Hee Lee:
Non-oscillatory Multi-Robot Motion for Stable Target Capture. Int. J. Robotics Autom. 26(4) (2011) - [j43]Jeong-Sik Choi, Younghwan Yoon, Myoung Hwan Choi, Beom Hee Lee:
Parameterized collision region for centralized motion planning of multiagents along specified paths. Robotica 29(7): 1059-1073 (2011) - [c52]Naoyuki Kubota, Yuichiro Toda, Beom Hee Lee:
Multifeatured visualization and navigation in tele-operation of mobile robots. RiiSS 2011: 85-92 - [c51]Heon-Cheol Lee, Seung-Hee Lee, Seung-Hwan Lee, Tae-Seok Lee, Doo-Jin Kim, Kyung-Sik Park, Kong-Woo Lee, Beom Hee Lee:
Comparison and analysis of scan matching techniques for Cooperative-SLAM. URAI 2011: 165-168 - 2010
- [j42]Nosan Kwak, Kazuhito Yokoi, Beom Hee Lee:
Analysis of Rank-Based Resampling Based on Particle Diversity in the Rao-Blackwellized Particle Filter for Simultaneous Localization and Mapping. Adv. Robotics 24(4): 585-604 (2010) - [c50]Takenori Obo, Naoyuki Kubota, Beom Hee Lee:
Localization of human in informationally structured space based on sensor networks. FUZZ-IEEE 2010: 1-7 - [c49]Heon-Cheol Lee, Seung-Hwan Lee, Doo-Jin Kim, Beom Hee Lee:
Visual route navigation using an adaptive extension of Rapidly-exploring Random Trees. IROS 2010: 1396-1401 - [c48]Jeong-Sik Choi, Gyu-Ho Eoh, Jimin Kim, Younghwan Yoon, Jung-Hee Park, Beom Hee Lee:
Analytic collision anticipation technology considering agents' future behavior. IROS 2010: 1656-1661 - [c47]Tae-Seok Lee, Gyu-Ho Eoh, Jimin Kim, Beom Hee Lee:
Mobile robot navigation with reactive free space estimation. IROS 2010: 1799-1804 - [c46]Naoyuki Kubota, Tsubasa Narita, Beom Hee Lee:
3D topological reconstruction based on Hough transform and growing neural gas for informationally structured space. IROS 2010: 3459-3464 - [c45]M. Hagiware, Tomohiro Kawahara, Yoko Yamanishi, Beom Hee Lee, Fumihito Arai:
High precision control of magnetically driven microtools for cell manipulations. IROS 2010: 3987-3992 - [c44]Jinseok Woo, Naoyuki Kubota, Beom Hee Lee:
Steady-State Genetic Algorithms for Growing Topological Mapping and Localization. PRICAI 2010: 558-569
2000 – 2009
- 2009
- [j41]Jeong Hee Lee, Jae Byung Park, Beom Hee Lee:
Turnover prevention of a mobile robot on uneven terrain using the concept of stability space. Robotica 27(5): 641-652 (2009) - [j40]In-Kyu Kim, Nosan Kwak, Heon-Cheol Lee, Beom Hee Lee:
Improved particle fusing geometric relation between particles in FastSLAM. Robotica 27(6): 853-859 (2009) - [j39]In-Kyu Kim, Nosan Kwak, Heon-Cheol Lee, Beom Hee Lee:
Improved particle filter using geometric relation between particles in FastSLAM - ERRATUM. Robotica 27(6): 959 (2009) - [c43]Jung-Hee Park, Jeong-Sik Choi, Jimin Kim, Beom Hee Lee:
Roadmap-based stealth navigation for intercepting an invader. ICRA 2009: 442-447 - [c42]Tae-Seok Lee, Jeong-Sik Choi, Jeong Hee Lee, Beom Hee Lee:
3-D terrain covering and map building algorithm for an AUV. IROS 2009: 4420-4425 - [c41]Heon-Cheol Lee, Shin-Kyu Park, Jeong-Sik Choi, Beom Hee Lee:
PSO-FastSLAM: An Improved FastSLAM Framework using Particle Swarm Optimization. SMC 2009: 2763-2768 - [c40]Jeong Hee Lee, Beom Hee Lee, Jeong-Sik Choi, Kong W. Lee:
Complete Coverage Path Planning for Cleaning Task using Multiple Robots. SMC 2009: 3618-3622 - 2008
- [j38]Kong-Woo Lee, Jae-Byung Park, Beom Hee Lee:
Dynamic localization with hybrid trilateration for mobile robots in intelligent space. Intell. Serv. Robotics 1(3): 221-235 (2008) - [j37]Nosan Kwak, Gon Woo Kim, Sang-Hoon Ji, Beom Hee Lee:
A Mobile Robot Exploration Strategy with Low Cost Sonar and Tungsten-Halogen Structured Light. J. Intell. Robotic Syst. 51(1): 89-111 (2008) - [j36]Nosan Kwak, Gon Woo Kim, Beom Hee Lee:
A new compensation technique based on analysis of resampling process in FastSLAM. Robotica 26(2): 205-217 (2008) - [j35]Gon Woo Kim, Ji Min Kim, Nosan Kwak, Beom Hee Lee:
Hierarchical sensor fusion for building a probabilistic local map using active sensor modules. Robotica 26(3): 307-322 (2008) - 2007
- [j34]Chung Hyuk Park, Bum-Hee Lee:
Elasticity modeling and estimation for haptic contact using a DD-robot. Ind. Robot 34(3): 211-216 (2007) - [c39]Jae Byung Park, Beom Hee Lee:
Roadmap-Based Collision-Free Motion Planning for Multiple Moving Agents in a Smart Home Environment. ICOST 2007: 70-80 - [c38]Nosan Kwak, In-Kyu Kim, Heon-Cheol Lee, Beom Hee Lee:
Adaptive prior boosting technique for the efficient sample size in fastSLAM. IROS 2007: 630-635 - [c37]Nosan Kwak, In-Kyu Kim, Heon-Cheol Lee, Beom Hee Lee:
Analysis of Resampling Process for the Particle Depletion Problem in FastSLAM. RO-MAN 2007: 200-205 - 2006
- [j33]Jae Byung Park, Jeong Hee Lee, Beom Hee Lee:
Online turnover-free control for a mobile agent with a terrain prediction sensor. J. Field Robotics 23(1): 59-77 (2006) - [j32]Seunghwan Park, Beom Hee Lee:
Analysis of robot collision characteristics using the concept of the collision map. Robotica 24(3): 295-303 (2006) - [j31]Gon Woo Kim, Beom Hee Lee:
Target tracking using the efficient estimation of the image Jacobian with large residual. Robotica 24(3): 325-327 (2006) - [j30]Jae Byung Park, Jeong Hee Lee, Beom Hee Lee:
Rollover-free navigation for a mobile agent in an unstructured environment. IEEE Trans. Syst. Man Cybern. Part B 36(4): 835-848 (2006) - 2005
- [c36]Gon Woo Kim, Nosan Kwak, Beom Hee Lee:
Low cost active range sensing using halogen sheet-of-light for occupancy grid map building. IROS 2005: 1612-1617 - 2004
- [c35]Seung Hwan Park, Beom Hee Lee:
Practical Environment Modeling Based on a Heuristic Sensor Fusion Method. ICRA 2004: 200-205 - [c34]Gon Woo Kim, Beom Hee Lee:
Adaptive Regulation of Robot Joint Velocity in Uncalibrated Visual Servoing. ICRA 2004: 739-744 - [c33]J. B. Park, Bum Hee Lee:
Reflective Force Integration Method for Nonautonomous Mobile Robot Control. ICRA 2004: 3950-3955 - [c32]Jeong Hee Lee, Jae Byung Park, Beom Hee Lee:
Slip and turnover avoidance control for a track-type mobile robot. IROS 2004: 1832-1837 - 2003
- [j29]Jin Cheol Kim, Beom Hee Lee:
A Line Balancing and Productivity Improvement Method for Surface Mounting Machines. Intell. Autom. Soft Comput. 9(4): 279-294 (2003) - [c31]Gon Woo Kim, Beom Hee Lee, Mun-sang Kim:
Uncalibrated visual servoing technique using large residual. ICRA 2003: 3315-3320 - [c30]J. B. Park, Bum Hee Lee, Mun-sang Kim:
Remote control of a mobile robot using distance-based reflective force. ICRA 2003: 3415-3420 - 2002
- [c29]Jinhyun Kim, Wan Kyun Chung, Youngil Youm, Beom Hee Lee:
Real-Time ZMP Compensation Method using Null Motion for Mobile Manipulators. ICRA 2002: 1967-1972 - 2001
- [j28]Chanwoo Moon, Beom Hee Lee:
A model-based error recovery scheme for a multi-robot system. Robotica 19(4): 371-380 (2001) - [c28]Chanwoo Moon, Beom Hee Lee, M. S. Kim:
PLC Based Coordination Schemes for a Multi-robot System. ICRA 2001: 3109-3114 - [c27]Chi Youn Chung, Beom Hee Lee:
An Approach to Torque Optimizing Control for a Redundant Manipulator. ICRA 2001: 4066-4071 - 2000
- [j27]S. H. Lee, Beom Hee Lee, Tae-Hyoung Park:
A Hierarchical Method to Improve the Productivity of Multi-Head Surface Mounting Machines. Intell. Autom. Soft Comput. 6(4): 291-301 (2000) - [j26]C. Y. Chung, Bum Hee Lee, M. S. Kim, C. W. Lee:
Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots. J. Intell. Robotic Syst. 28(3): 231-258 (2000) - [c26]Chi Youn Chung, Jin Won Lee, Sang Moo Lee, Beom Hee Lee:
Balancing of an Inverted Pendulum with a Redundant Direct-Drive Robot. ICRA 2000: 3952-3957
1990 – 1999
- 1999
- [j25]Young Dae Lee, Beom Hee Lee, Han Gyoo Kim:
An Evolutionary Approach for Time Optimal Trajectory Planning of a Robotic Manipulator. Inf. Sci. 113(3-4): 245-260 (1999) - [j24]Wonsik Lee, Sunghan Lee, Beom Hee Lee, Young Dae Lee:
An Efficient Planning Algorithm for Multi-head Surface Mounting Machines Using a Genetic Algorithm. J. Univers. Comput. Sci. 5(12): 833-854 (1999) - [j23]S. W. Lee, Bum Hee Lee, Ki Dong Lee:
A configuration space approach to collision avoidance of a two-robot system. Robotica 17(2): 131-141 (1999) - [j22]Woong Kwon, Beom Hee Lee, Myoung Hwan Choi:
Resolving kinematic redundancy of a robot using a quadratically constrained optimization technique. Robotica 17(5): 503-511 (1999) - [j21]Woong Kwon, Beom Hee Lee:
General redundancy optimization method for cooperating manipulators using quadratic inequality constraints. IEEE Trans. Syst. Man Cybern. Part A 29(1): 41-51 (1999) - [c25]S. H. Lee, Bum Hee Lee, Tae-Hyoung Park:
A Hierarchical Method to Improve the Productivity of a Multi-Head Surface Mounting Machine. ICRA 1999: 2110-2115 - [c24]Chi Youn Chung, Sang Moo Lee, Jin Won Lee, Beom Hee Lee:
Balancing of an inverted pendulum with a kinematically redundant robot. IROS 1999: 191-196 - [c23]Wonsik Lee, Sunghan Lee, Young Dae Lee, Beom Hee Lee:
Improving the productivity of a multi-head surface mounting machine with genetic algorithms. IROS 1999: 1780-1785 - 1998
- [j20]Woong Kwon, Beom Hee Lee:
A New Optimal Force Distribution Scheme of Multiple Cooperating Robots Using Dual Method. J. Intell. Robotic Syst. 21(4): 301-326 (1998) - [j19]Tae Hyoung Park, Beom Hee Lee:
Dynamic tracking line: feasible tracking region of a robot in conveyor systems. IEEE Trans. Syst. Man Cybern. Part B 28(1): 70-77 (1998) - [j18]Jung-Hoon Lee, Beom Hee Lee, Myoung Hwan Choi:
A real-time traffic control scheme of multiple AGV systems for collision free minimum time motion: a routing table approach. IEEE Trans. Syst. Man Cybern. Part A 28(3): 347-358 (1998) - [c22]W. Kwon, Bum Hee Lee, Wook Hyun Kwon, Myoung Hwan Choi, S. H. Lee:
Redundancy Optimization for Cooperating Manipulators Using Quadratic inequality Contraints. ICRA 1998: 1528-1533 - 1997
- [j17]Myung-Gon Yoon, Beom Hee Lee:
An approximation approach to H∞ control problems for distributed parameter systems. Autom. 33(11): 2049-2052 (1997) - [j16]Young Dae Lee, Beom Hee Lee:
Genetic Trajectory Planner for a Manipulator with Acceleration Parametrization. J. Univers. Comput. Sci. 3(9): 1056-1073 (1997) - [j15]Myung-Gon Yoon, Bum-Hee Lee:
A new approximation method for time-delay systems. IEEE Trans. Autom. Control. 42(7): 1008-1012 (1997) - [j14]Tae Hyoung Park, Beom Hee Lee:
Dynamic tracking line: feasible tracking region of a robot in conveyor systems. IEEE Trans. Syst. Man Cybern. Part B 27(6): 1022-1030 (1997) - [c21]Hee-Joo Yeo, Il Hong Suh, Byung-Ju Yi, Sang-Rok Oh, Bum Hee Lee:
A closed-chain Jacobian-based hybrid control for two cooperating arms with a passive joint: an application to sawing task. ICRA 1997: 1793-1800 - [c20]Sunghan Lee, Jee Min Hong, Dae-Won Kim, Beom Hee Lee:
An effective algorithm for a surface mounting machine in printed circuit board assembly. IROS 1997: 932-937 - [c19]Jugn Hoon Lee, Beom Hee Lee, Sang Moo Lee, Chi Youn Chung:
Preshaped trajectory command for fast repetitive PTP motion of PD-controlled flexible joint manipulators. IROS 1997: 1546-1552 - [c18]Chi Youn Chung, Beom Hee Lee, Jung-Hoon Lee:
Obstacle avoidance for kinematically redundant robots using distance algorithm. IROS 1997: 1787-1793 - 1996
- [c17]Yun Seok Nam, Bum Hee Lee, Moon-Sang Kim:
View-time based moving obstacle avoidance using stochastic prediction of obstacle motion. ICRA 1996: 1081-1086 - [c16]Woong Kwon, Bum Hee Lee:
Optimal force distribution of multiple cooperating robots using nonlinear programming dual method. ICRA 1996: 2408-2413 - [c15]Il Hong Suh, Hee-Joo Yeo, J. H. Kim, J. S. Ryoo, Sang-Rok Oh, C. W. Lee, Bum Hee Lee:
Design of a supervisory control system for multiple robotic systems. IROS 1996: 332-339 - [c14]Nak Yong Ko, Bum Hee Lee:
Avoidability measure in moving obstacle avoidance problem and its use for robot motion planning. IROS 1996: 1296-1303 - 1995
- [j13]Tae Hyoung Park, Beom Hee Lee:
Dynamic control of a robot manipulator for high-performance conveyor tracking. J. Field Robotics 12(10): 647-660 (1995) - [j12]Ki Dong Lee, Bum Hee Lee, Myoung-Sam Ko:
A comparative model-based analysis and design for multi-robot systems. Robotica 13(1): 65-76 (1995) - [j11]Hye-Kyung Cho, Bum Hee Lee, Myoung-Sam Ko:
Path constrained time-optimal motion of a cooperative two robot system. Robotica 13(4): 363-374 (1995) - [j10]H. K. Cho, Bum Hee Lee, Myoung-Sam Ko:
Time-optimal motion of a cooperating multiple robot system along a prescribed path. IEEE Trans. Syst. Man Cybern. 25(12): 1648-1657 (1995) - [c13]Joe-Min Hong, Sunghan Lee, Dae-Won Kim, Bum-Hee Lee, Jung-Duk Kim, Jae-Ok Kim:
An Algorithmic Approach to the Improvement of Efficiency for Surface Mounting Machines. ICRA 1995: 806-811 - [c12]Myoung Hwan Choi, Bum Hee Lee:
A Real Time Optimal Load Distribution for Multiple Cooperating Robots. ICRA 1995: 1211-1216 - [c11]Jeong-Hoon Lee, Bum Hee Lee, Myoung Hwan Choi, Jung Duk Kim, Kwang-Taek Joo, Hyon Park:
A Real Time Traffic Control Scheme for a Multiple AGV System. ICRA 1995: 1625-1630 - [c10]Tae Hyoung Park, Bum Hee Lee, Ki Dong Lee, Il Hong Suh, Sang-Rok Oh:
Traching Line Analysis of a Robot Manipulator for Conveyor Systems. ICRA 1995: 1763-1768 - [c9]He-Kyung Cho, Bum Hee Lee, Myoung-Sam Ko:
Path COnstrained Time-Optimal Motion of Multiple Robots Holding a Common Object. ICRA 1995: 1827-1832 - [c8]Yun Seok Nam, Bum Hee Lee, Nak Yong Ko:
An analytic approach to moving obstacle avoidance using an artificial potential field. IROS (2) 1995: 482-487 - 1994
- [j9]Cheol Chang, Myung Jin Chung, Bum Hee Lee:
Collision avoidance of two general robot manipulators by minimum delay time. IEEE Trans. Syst. Man Cybern. 24(3): 517-522 (1994) - [c7]Il Hong Suh, Kwang Sik Eom, Hee-Joo Yeo, B. H. Kang, Sang-Rok Oh, Bum Hee Lee:
Explicit fuzzy force control of industrial manipulators with position servo drives. IROS 1994: 657-664 - 1993
- [j8]Myoung Hwan Choi, Bum Hee Lee, Myoung-Sam Ko:
Optimal load distribution for two cooperating robots using a force ellipsoid. Robotica 11(1): 61-72 (1993) - [j7]Nak Yong Ko, Bum Hee Lee, Myoung-Sam Ko:
An approach to robot motion planning for time-varying obstacle avoidance using the view-time concept. Robotica 11(4): 315-327 (1993) - [c6]Nak Yong Ko, Bum Hee Lee:
Motion Planning of an Articulated Robot Manipulator Avoiding Time-Varying Obstacles. ICRA (3) 1993: 1015 - 1992
- [j6]Tae Hyoung Park, Bum Hee Lee:
An approach to robot motion analysis and planning for conveyor tracking. IEEE Trans. Syst. Man Cybern. 22(2): 378-384 (1992) - [c5]Myoung Hwan Choi, Bum Hee Lee, Myoung-Sam Ko:
An application of force ellipsoid to the optimal load distribution for two cooperating robots. ICRA 1992: 461-466 - 1991
- [j5]Dae-Won Kim, Bum-Hee Lee, Myoung-Sam Ko:
A Knowledge-Based Approach to Modelling of Robotic Assembly Cells. Robotica 9(1): 31-42 (1991) - [c4]Tae Hyoung Park, Beom Hee Lee:
An approach to robot motion analysis and planning for conveyor tracking. ICRA 1991: 70-75
1980 – 1989
- 1989
- [j4]Bum Hee Lee:
Constraints identification in time-varying obstacle avoidance for mechanical manipulators. IEEE Trans. Syst. Man Cybern. 19(1): 140-143 (1989) - 1987
- [j3]Bum Hee Lee, C. S. George Lee:
Collision-Free Motion Planning of Two Robots. IEEE Trans. Syst. Man Cybern. 17(1): 21-32 (1987) - [j2]C. S. George Lee, Bum Hee Lee:
Development of Generalized d'Alembert Equations of Motion for Robot Manipulators. IEEE Trans. Syst. Man Cybern. 17(2): 311-325 (1987) - [c3]Beom Hee Lee, H. C. Yan:
Development of the generalized Newton equations and a structural matrix for robot manipulators. ICRA 1987: 474-478 - [c2]Beom Hee Lee, Y. P. Chien:
Time-varying obstacle avoidance for robot manipulators: Approaches and difficulties. ICRA 1987: 1610-1615 - 1985
- [b1]Bum Hee Lee:
An Approach to Motion Planning and Motion Control of Two Robots in a Common Workspace (Straight Line Trajectory, Collision Map, Time Scheduling, Resolved Motion Adaptive). University of Michigan, USA, 1985 - 1984
- [j1]C. S. G. Lee, Moon-Jung Chung, Bum Hee Lee:
An Approach of Adaptive Control for Robot Manipulators. J. Field Robotics 1(1): 27-57 (1984) - [c1]C. S. George Lee, Moon-Jung Chung, Bum Hee Lee:
Adaptive control for robot manipulators in joint and cartesian coordinates. ICRA 1984: 530-539