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Chirikjian, Gregory S. and Burdick, Joel W. (1994) A modal approach to hyper-redundant manipulator kinematics. IEEE Transactions on Robotics and Automation, 10 (3). pp. 343-354. ISSN 1042-296X. http://resolver.caltech.edu/CaltechAUTHORS:CHIieetra94

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