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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2018 Nov 14;35(2):353–370. doi: 10.1109/TRO.2018.2878906

Fig. 20.

Fig. 20.

Tip positions of Fig. 19. Pure-rotation path-history measurements are plotted as solid curves. The eight individual path history solutions are plotted at 60° intervals for clarity.