@mastersthesis {Pfeffer:1993,
	title = {{The Design and Control of a Two-Armed, Cooperating, Flexible-Drivetrain Robot System}},
	year = {1993},
	note = {Also published as SUDAAR 644},
	month = {December},
	school = {Stanford University},
	type = {phd},
	address = {Stanford, CA 94305},
	author = {Lawrence E. Pfeffer}
}
