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Wrede S, Johannfunke M, Lemme A, Nordmann A, Ruether S, Weirich A, Steil JJ. Interactive Learning of Inverse Kinematics with Nullspace Constraints using Recurrent Neural Networks. In: 20. Workshop on Computational Intelligence. 20. Workshop on Computational Intelligence. Dortmund: Fachausschuss Computational Intelligence der VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik; 2010.

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