@article{dantam2014multiprocess,
  title={Multiprocess Communication and Control Software for Humanoid Robots},
  author={Dantam, Neil T and Lofaro, Daniel M and Hereid, Ayonga and Oh, Paul Y and Ames, Aaron D and Stilman, Mike},
  journal={IEEE Robotics and Automation Magazine},
  year={2014},
  url = {http://ames.caltech.edu/dantam2014multiprocess.pdf}
}

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