![PDF] An Open-architecture Robot Controller applied to Interaction Tasks | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/b5c409f7dabc25355414b8c285eaa039d83c0d45/9-Figure4-1.png "PDF] An Open-architecture Robot Controller applied to Interaction Tasks | Semantic Scholar")
PDF] An Open-architecture Robot Controller applied to Interaction Tasks | Semantic Scholar
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