15 (3): 418. ↑ Dietrich, A., Whole-Body Impedance Control of Wheeled Humanoid Robots, ISBN 978-3-319-40556-8, Springer International Publishing, 2016, https://www.springer.com/de/book/9783319405568 ↑ Joseph Needham (1986), Science and Civilization in China: Volume 2, p.