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PDF] Springer Handbook of Robotics: Chapter 31 | Semantic Scholar
![PDF] Springer Handbook of Robotics: Chapter 31 | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/2e179fbbb52748c3abc057029709955bea31f66f/8-Figure31.12-1.png "PDF] Springer Handbook of Robotics: Chapter 31 | Semantic Scholar")
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