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IEEE Transactions on Robotics > 2010 > 26 > 5 > 878 - 887
2007 46th IEEE Conference on Decision and Control > 1473 - 1479
IEEE/ASME Transactions on Mechatronics > 2007 > 12 > 2 > 164 - 178
2006 IEEE International Conference on Systems, Man and Cybernetics > 3 > 2482 - 2487