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Hebert, P. et al. (2007) Toward the Design and Simulation of a New Generation of Reconfigurable Space Manipulators using Telescoping Passive Joints. Transactions of the Canadian Society for Mechanical Engineering, 31 (4). pp. 535-545. ISSN 0315-8977 http://resolver.caltech.edu/CaltechAUTHORS:20100917-111052308