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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 15, no. 4, page. 612 - 622, 1999-08
IEEE-ASME TRANSACTIONS ON MECHATRONICS, vol. 4, no. 2, page. 133 - 146, 1999-06
ADVANCED ROBOTICS, vol. 13, no. 2, page. 189 - 202, 1999-01
ADVANCED ROBOTICS, vol. 13, no. 1, page. 1 - 24, 1999-01
INTELLIGENT AUTOMATION AND SOFT COMPUTING, vol. 5, no. 2, page. 149 - 164, 1999-01