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R. F. Reinhart and J. J. Steil, “Reaching Movement Generation with a recurrent neural network based on Learning Inverse Kinematics for the Humanoid Robot Icub,” Proceedings of IEEE-RAS International Conference on Humanoid Robots, Paris, 7-10 December 2009, pp. 323-330. doi:10.1109/ICHR.2009.5379558

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