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IEEE Robotics & Automation Magazine > 2011 > 18 > 1 > 14 - 15
IEEE Robotics & Automation Magazine > 2010 > 17 > 4 > 43 - 53
Proceedings of SICE Annual Conference 2010 > 2287 - 2290
Proceedings of SICE Annual Conference 2010 > 2083 - 2087