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Redundantly Actuated Hybrid Kinematic setup for high Manipu..:

, In: Proceedings of the 2023 6th International Conference on Advances in Robotics,
Rana, Harsh Ajay ; Kapil, Sajan - p. 1-10 , 2023
Link: https://dl.acm.org/doi/10.1145/3610419.3610475