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. Author manuscript; available in PMC: 2017 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2015 Dec 17;32(1):20–35. doi: 10.1109/TRO.2015.2500422

Fig. 3.

Fig. 3

Bifurcation diagrams are shown for various transmission lengths. As the transmission length grows, the bifurcation points, indicated by the arrowheads, are pushed closer to λ = 0. The red dashed line shows equation (11), which describes the behavior near the bifurcation point λ0 = π2/4.