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A reference control architecture for service robots impleme..:

Ortiz Zaragoza, Francisco José ; Alonso Cáceres, Diego ; Pastor Franco, Juan Ángel..
ORTIZ ZARAGOZA, Francisco José, ALONSO CÁCERES, Diego, PASTOR FRANCO, Juan Ángel, ÁLVAREZ TORRES, MªBárbara, IBORRA GARCÍA, Andrés José . A reference control architecture for service robots implemented on a climbing vehicle. En: Bioinspiration and Robotics: walking and climbing robots. Viena: I-Tech Educationa and Publishing, 2007. pp.187-208. ISBN 978-3-902613-11-0.  , 2007