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IEEE Transactions on Robotics > 2013 > 29 > 2 > 346 - 362
IEEE Transactions on Automation Science and Engineering > 2013 > 10 > 3 > 665 - 673
IEEE/ASME Transactions on Mechatronics > 2013 > 18 > 2 > 569 - 577
IEEE/ASME Transactions on Mechatronics > 2013 > 18 > 2 > 624 - 636