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There is at least one decent sanctioned Asimov spin-off out there. The trilogy Roger MacBride Allen wrote based on Asimov's Robots series is great. I would include the first book, Caliban, in my 100 favourite books (this is better praise than it might seem. I have read a lot of books...). Even if you knew nothing about Asimov's 3 Rules, it would still be a great detective novel.
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