Constructing a high-performance robot from commercially available parts. Smith, C. & Christensen, H. I. IEEE Robotics and Automation Magazine, 16(4):75–83, December, 2009.
bibtex   
@article{smith09:const,
  author        = {C. Smith and H. I. Christensen},
  category      = {Journal},
  journal       = {IEEE Robotics and Automation Magazine},
  month         = dec,
  number        = 4,
  pages         = {75--83},
  title         = {Constructing a high-performance robot from commercially available parts},
  volume        = 16,
  year          = 2009
}

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