Submitted on: 31 July 2012.
Revised on: 21 November 2012.
Accepted on: 05 December 2012.
___________________Journal of Robotics---HINDAWI LTD
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Submitted on: 08 December 2005.
Revised on: 10 January 2006.
Accepted on: 26 January 2006.
___________________Journal of Robotics---HINDAWI LTD
Submitted on: 14 September 2000.
Revised on: 14 December 2000.
Accepted on: 03 February 2001.
___________________Journal of Robotics---HINDAWI LTD
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