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IEEE Transactions on Robotics > 2014 > 30 > 5 > 1210 - 1221
IEEE Transactions on Industrial Electronics > 2012 > 59 > 5 > 2178 - 2188
IEEE/ASME Transactions on Mechatronics > 2009 > 14 > 3 > 388 - 393
IEEE Transactions on Industrial Electronics > 2009 > 56 > 5 > 1401 - 1410