The minimum form of strength in serial, parallel and bifurcated manipulators
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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
published proceedings
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2014 IEEE International Conference on Robotics and Automation (ICRA)
author list (cited authors)
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Ambrose, R. O., & Diftler, M. A.
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http://dx.doi.org/10.1109/robot.1998.677290