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. Author manuscript; available in PMC: 2015 Jun 24.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2014;2014:6521–6525. doi: 10.1109/EMBC.2014.6945122

Figure 7.

Figure 7

3D view (up), X-Z view (middle), and Y-Z view (down)of desired path and achieved positions by snake tip. The circle demonstrates the location of maximum deviation from the path.