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IEEE Transactions on Robotics > 2016 > 32 > 6 > 1408 - 1418
IEEE/ASME Transactions on Mechatronics > 2013 > 18 > 5 > 1544 - 1554
IEEE/ASME Transactions on Mechatronics > 2010 > 15 > 3 > 389 - 399
IEEE Transactions on Robotics > 2010 > 26 > 4 > 733 - 742
Proceedings of the 2004 American Control Conference > 4 > 3839 - 3844 vol.4