Christian Herrmann Klaus Schilling Lei Ma Modeling a HexaPOD for Tumor Motion Compensation in Robot Assisted Radiotherapy. 1-7 2010 ISR/ROBOTIK http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5756912 conf/isr/2010 db/conf/isr/isr2010.html#HerrmannSM10