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Lenz, A., Anderson, S. A., Pipe, A. G., Melhuish, C., Dean, P. and Porrill, J. (2009) Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial muscles. IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics), 39 (6). pp. 1420-1433. ISSN 1083-4419 Available from:

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