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Robotics 2014, 3(2), 120-148; https://doi.org/10.3390/robotics3020120
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article pdf uploaded. 14 April 2014 16:58 CEST Version of Record https://www.mdpi.com/2218-6581/3/2/120/pdf-vor
article pdf uploaded. 15 April 2014 09:23 CEST Updated version of record https://www.mdpi.com/2218-6581/3/2/120/pdf
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