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The laid-back attitude one needs to adopt when riding the Heretic. But when things point downhill, the beast awakens.

Abstract: Robots whose geometric structure does not meet the Pieper criterion are called general robots. For the inverse kinematic operation of general robots, the closed solution method cannot be ...

Abstract: This letter investigates the mathematical relationships between the positions and orientations at the segment tips of a piecewise constant curvature (PCC) continuum robot with up to three ...