Planar steady-state physical model for a soft cable-driven octopus-like arm manipulator. Renda, F, Cianchetti, M, Giorelli, M, Mazzolai, B, Dario, P, & Laschi, C
bibtex   
@article{rendaplanar,
  title={Planar steady-state physical model for a soft cable-driven octopus-like arm manipulator},
  author={Renda, F and Cianchetti, M and Giorelli, M and Mazzolai, B and Dario, P and Laschi, C}
}

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