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[1]Robotics (4th ed.), Zixing Cai, Bin Xie.[Teaching material].谢斌, 蔡自兴,Tsinghua University Press,2022
[2]"Robotics (third edition)", Cai Zixing, Xie Bin[Teaching material].谢斌, 蔡自兴,Tsinghua University Press,2015
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