Guilin Yang Weihai Chen Edwin Hui Leong Ho Design and kinematic analysis of a modular hybrid parallel-serial manipulator. 45-50 2002 ICARCV http://dx.doi.org/10.1109/ICARCV.2002.1234788 conf/icarcv/2002 db/conf/icarcv/icarcv2002.html#YangCH02