Author： Chugo Daisuke Kawabata Kuniaki Okamoto Hiroyuki Kaetsu Hayato Asama Hajime Miyake Norihisa Kosuge Kazuhiro
Publisher： Emerald Group Publishing Ltd
ISSN： 0143-991X
Source： Industrial Robot: An International Journal, Vol.34, Iss.2, 2007-03, pp. : 128-134
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