Yang, C., Yang, R., Chen, M., & Na, J. (2017). Adaptive impedance control of robot manipulators based on Q-learning and disturbance observer. Systems Science & Control Engineering, 5(1), pp. 287-300. doi:10.1080/21642583.2017.1347532

Yang, Chenguang, Runxian Yang, Mou Chen, and Jing Na. "Adaptive Impedance Control of Robot Manipulators Based On Q-learning and Disturbance Observer." Systems Science & Control Engineering 5, no. 1 (2017): 287-300.

Yang, Chenguang, Runxian Yang, Mou Chen, and Jing Na. "Adaptive Impedance Control of Robot Manipulators Based On Q-learning and Disturbance Observer." Systems Science & Control Engineering 5.1 (2017): 287-300.