@inproceedings{CTT100576494,
  author = {Kenji Kawashima and Kotaro Tadano and Cong Wong and Ganesh  Sankaranarayanan and Blake Hannaford},
  title = {Bilateral Teleoperation with Time Delay using Modified Wave Variable Based Controller},
  booktitle = {Proc. of IEEE ICRA},
  year = 2009,
}