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M. Antonelli, Gibaldi, A., Beuth, F., Duran, A. J., Canessa, A., Chessa, M., Solari, F., del Pobil, A. P., Hamker, F., Chinellato, E., and Sabatini, S. P., “A hierarchical system for a distributed representation of the peripersonal space of a humanoid robot”, IEEE Trans. Auton. Mental Develop, pp. 1–15, 2014.