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Submitted on: 18 January 2009.
Revised on: 25 March 2009.
Accepted on: 10 May 2009.
___________________Journal of Robotics and Mechatronics
Submitted on: 05 September 2006.
Revised on: 02 November 2006.
Accepted on: 11 December 2006.
___________________Journal of Robotics and Mechatronics