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“A Versatile Generalized Inverted Kinematics Implementation for Collaborative Working Humanoid Robots: The Stack of Tasks”, in International Conference on Advanced Robotics (ICAR), 2009, p. 119.
, “A Visio-haptic Percept using Guarded Motion And Augmented Reality Occlusion Checking for Humanoid Self-body Extraction and Primary Touch Function”, in International Symposium on Robotics, ISR, Tokyo, Japan, 2005.
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