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Jordi Barrio, José Maria Azorín, Rafael Aracil, Manuel Ferre, José Maria Sabater, Nicolás M. García. Experimental bilateral control by state convergence. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China. pages 1127-1132, IEEE, 2006. [doi]

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