@article{Nakanishi_IJRR_2008, title = {Operational space control: A theoretical and emprical comparison}, author = {Nakanishi, J. and Cory, R. and Mistry, M. and Peters, J. and Schaal, S.}, booktitle = {International Journal of Robotics Research}, volume = {27}, number = {6}, pages = {737-757}, year = {2008}, note = {clmc}, doi = {}, crossref = {p3236}, url = {http://www-clmc.usc.edu/publications/N/nakanishi-IJRR2008.pdf} }