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Yang, Chenguang, Wei He, Weiliang Ge, Yunchuan Li, Yan-Jun Liu, and Changyin Sun. "Model Identification and Control Design for a Humanoid Robot." IEEE Transactions On Systems, Man, and Cybernetics: Systems 47, no. 1 (2017): 45-57.

Yang, Chenguang, et al. "Model Identification and Control Design for a Humanoid Robot." IEEE Transactions On Systems, Man, and Cybernetics: Systems 47.1 (2017): 45-57.