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Ge, Shuzhi Sam, Li, Yanan and Wang, Chen (2013) Impedance adaptation for optimal robot–environment interaction. International Journal of Control, 87 (2). pp. 249-263. ISSN 0020-7179

Yu, H and Lloyd, S (1997) Combined Direct and Indirect Adaptive Control of Constrained Robots. International Journal of Control, 68 No.. pp. 955-970. ISSN 0020-7179

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