Controller Design for Hyper-Redundant Manupulator Using Backbone Curve. Ahmadzadeh, S. R. & Hajabasi, M. A. In Mechanics, 8th International Conference on, pages 1–9, Tehran, Iran, May, 2003.
bibtex   
@INPROCEEDINGS{ahmadzadeh2003controller,
    TITLE={Controller Design for Hyper-Redundant Manupulator Using Backbone Curve},
    AUTHOR={Ahmadzadeh, Seyed Reza and Hajabasi, Mohamad Ali},
    BOOKTITLE={{M}echanics, 8th International Conference on},
    PAGES={1--9},
    YEAR={2003},
    MONTH={May},
    ADDRESS={Tehran, Iran}
}

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