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Khan, S. , Herrmann, G. , Lewis, F. , Pipe, T. and Melhuish, C. (2011) A novel Q-Learning based adaptive optimal controller implementation for a humanoid robotic arm. In: IFAC World Congress, 2011 Milan, Italy. Milan,Italy: UNSPECIFIED, pp. 1-6

Khan, S. , Herrmann, G. , Pipe, A. G. and Melhuish, C. (2010) Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control. International Journal of Social Robotics, 2 (3). pp. 305-319. ISSN 1875-4791

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