Gregory S. Chirikjian. General methods for computing hyper-redundant manipulator inverse kinematics. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 1067-1073, IEEE, 1993. [doi]
@inproceedings{Chirikjian93a, title = {General methods for computing hyper-redundant manipulator inverse kinematics}, author = {Gregory S. Chirikjian}, year = {1993}, doi = {10.1109/IROS.1993.583310}, url = {http://dx.doi.org/10.1109/IROS.1993.583310}, researchr = {https://researchr.org/publication/Chirikjian93a}, cites = {0}, citedby = {0}, pages = {1067-1073}, booktitle = {Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993}, publisher = {IEEE}, isbn = {0-7803-0823-9}, }