[IEEE Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) - Takamatsu, Japan (31 Oct.-5 Nov. 2000)] Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113) - On stability and error bounds of describing functions for oscillatory control of movements