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Jung, Pascal and Leyendecker, Sigrid and Linn, Joachim et al. (2011) A discrete mechanics approach to the Cosserat rod theory-Part 1: static equilibria. International Journal for Numerical Methods in Engineering, 85 (1). pp. 31-60. ISSN 0029-5981. http://resolver.caltech.edu/CaltechAUTHORS:20110222-151826704

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