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IEEE Transactions on Robotics > 2017 > 33 > 2 > 249 - 265
IEEE Transactions on Automation Science and Engineering > 2016 > 13 > 2 > 743 - 756
Proceedings of SICE Annual Conference 2010 > 1982 - 1984
Proceedings of SICE Annual Conference 2010 > 2300 - 2307
IEEE/ASME Transactions on Mechatronics > 2010 > 15 > 5 > 757 - 769