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Chirikjian, Gregory S. and Burdick, Joel W. (1994) A hyper-redundant manipulator. IEEE Robotics and Automation Magazine, 1 (4). pp. 22-29. ISSN 1070-9932. doi:10.1109/100.388263. https://resolver.caltech.edu/CaltechAUTHORS:CHIieeeram94

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