Task-space bilateral teleoperation systems for heterogeneous robots with time-varying delays

@article{Liu2015TaskspaceBT,
  title={Task-space bilateral teleoperation systems for heterogeneous robots with time-varying delays},
  author={Yen-Chen Liu},
  journal={Robotica},
  year={2015},
  volume={33},
  pages={2065-2082}
}
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