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IEEE ICCA 2010 > 393 - 398
IEEE Transactions on Robotics > 2010 > 26 > 3 > 531 - 541
IET Control Theory & Applications > 2007 > 1 > 1 > 358 - 371
IEEE/ASME Transactions on Mechatronics > 2004 > 9 > 2 > 407 - 419
SICE 2003 Annual Conference (IEEE Cat. No.3TH8734) > 2 > 1465 - 1470 Vol.2