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Vijay R. Kumar, Kenneth J. Waldron. Force distribution in closed kinematic chains. In Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, USA, April 24-29, 1988. pages 114-119, IEEE, 1988. [doi]

The following publications are possibly variants of this publication:

Force distribution in closed kinematic chainsVijay R. Kumar, Kenneth J. Waldron. trob, 4(6):657-664, 1988. [doi]

Kinematics of redundantly actuated closed chainsVijay Kumar, John F. Gardner. trob, 6(2):269-274, 1990. [doi]

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