@article{ Ebert-Uphoff_Chirikjian,
  author = {Ebert-Uphoff, I. and Chirikjian, G. S.},
  title = {Inverse Kinematics of Discretely Acuted Hyper-Redundant Manipulators
	Using Workspace Densities},
  journal = {preprint},
  year = {1995},
  pages = {1-7},
  en_number = {10.5:7}
}

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