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IEEE Robotics & Automation Magazine > 2009 > 16 > 2 > 82 - 90
2008 4th International IEEE Conference Intelligent Systems > 1 > 2-45 - 2-50
IEEE Robotics & Automation Magazine > 2008 > 15 > 1 > 62 - 70
IEEE/ASME Transactions on Mechatronics > 2008 > 13 > 1 > 95 - 103