Robotics and Automation Handbook - Siddharth P. Nagarkatti; Milos Zefran; J. William Goodwine; Chris A. Raanes; Jeanne Sullivan Falcon; Jaydev P. Desai; Hector M. Gutierrez; Kazuhiro Kosuge; William Singhose; Wayne J. Book; Wesley L. Stone; Kenneth A. Loparo; Mark W. Spong; Maarten Steinbuch; Robert B. Gillespie; Hodge E. Jenkins; Gregory S. Chirikjian; Neville Hogan; Mark L. Nagurka; Stephen J. Ludwick; Daniel D. Frey; Yi Ma; Keith W. Buffinton; Bram de Jager; Darren M. Dawson; Kun Huang; Ioannis S. Vakalis; Dragan Kostic; Stephen P. Buerger; Yasuhisa Hirata; Francesco Bullo; Mohan Bodduluri; Thomas R. Kurfess; Lonnie J. Love (Taylor and Francis, 2005)