Multiprocess Communication and Control Software for Humanoid Robots. Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; Ames, A. D; and Stilman, M. IEEE Robotics and Automation Magazine, 2014.
Multiprocess Communication and Control Software for Humanoid Robots [pdf]Paper  bibtex   
@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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