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N. Z. Azlan and  H. Yamaura,  FAT based Adaptive Impedance Control for Unknown Environment Position.   journal   = {International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering}, [online]. World Academy of Science, Engineering and Technology. August 2012, vol. 68(8). 1538 - 1543[viewed 17 December 2017]. Available from: http://waset.org/publications/5696.