Inverse Kinematics of Binary Manipulators Using a Continuum Model

@article{Chirikjian1997InverseKO,
  title={Inverse Kinematics of Binary Manipulators Using a Continuum Model},
  author={Gregory S. Chirikjian},
  journal={Journal of Intelligent and Robotic Systems},
  year={1997},
  volume={19},
  pages={5-22}
}
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