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Murphey, Todd D. and Burdick, Joel W. (2006) The power dissipation method and kinematic reducibility of multiple-model robotic systems. IEEE Transactions on Robotics, 22 (4). pp. 694-710. ISSN 1552-3098. doi:10.1109/TRO.2006.878971. https://resolver.caltech.edu/CaltechAUTHORS:MURieeetr06

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