@incollection{ Hirose_etal81,
  author = {Hirose, S. and Umetani, Y. and Oda, S.},
  title = {An Active Cord Mechanism with Oblique Swivel Joints and Its Control},
  booktitle = {Proc. of {ROMANSY} Symposium 81},
  publisher = {Springer Verlag},
  year = {1981},
  pages = {327-340},
  address = {Wien -- New York},
  en_number = { }
}

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