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IEEE Robotics and Automation Letters > 2018 > 3 > 1 > 379 - 386
IEEE Access > 2016 > 4 > 7816 - 7827
IEEE/ASME Transactions on Mechatronics > 2012 > 17 > 3 > 587 - 591
49th IEEE Conference on Decision and Control (CDC) > 3194 - 3199
TENCON 2010 - 2010 IEEE Region 10 Conference > 945 - 950