K
[Kha87] Oussama Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Auomation 3(1):43-53. February 1987. 
@article{jra3(1)-Kha,
  author =              {Khatib, Oussama},
  title =               {A~unified approach for motion and force control of
                         robot manipulators: The operational space
                         formulation},
  journal =             {IEEE Journal of Robotics and Auomation},
  volume =              {3},
  number =              {1},
  pages =               {43-53},
  year =                {1987},
  month =               feb,
  doi =                 {10.1109/JRA.1987.1087068},
}
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