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Self-Correcting Quadratic Programming-Based Robot Control:

Khadivar, Farshad ; Chatzilygeroudis, Konstantinos ; Billard, Aude
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  53 (2023)  8 - p. 5236-5247 , 2023
Link: https://doi.org/10.1109/tsmc.2023.3262954