Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2015). Modal kinematics for multisection continuum arms. Bioinspiration and Biomimetics, 10(3), Article 035002. https://doi.org/10.1088/1748-3190/10/3/035002