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Chirikjian, Gregory S. and Burdick, Joel W. (1995) Kinematically optimal hyper-redundant manipulator configurations. IEEE Transactions on Robotics and Automation, 11 (6). pp. 794-806. ISSN 1042-296X. http://resolver.caltech.edu/CaltechAUTHORS:CHIieetra95b

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