@article{ Chirikjian_Burdick92,
  author = {Chirikjian, G.S. and Burdick, J.W.},
  title = {A geometric approach to hyperredundant manipulator obstacle avoidance},
  journal = { JOURNAL OF MECHANICAL DESIGN},
  year = {1992},
  volume = {114},
  pages = {580-585},
  number = {4},
  keywords = {vermiform robots}
}

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