Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots.

Michael W. Hannan Ian D. Walker Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots. 45-63 2003 20 J. Field Robotics 2 http://dx.doi.org/10.1002/rob.10070 db/journals/jfr/jfr20.html#HannanW03