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Li Y., Carboni G., Gonzalez F., Campolo D., Burdet E..  2019.  Differential game theory for versatile physical human–robot interaction. Nature Machine Intelligence. 1:36–43.
Dehio N, Steil JJ.  2019.  Dynamically-consistent Generalized Hierarchical Control. IEEE/RSJ Int. Conf. on Robotics and Automation.