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Link to original content: https://dblp.dagstuhl.de/rec/conf/etfa/WeyrichA13.xml
Michael Weyrich Mustafa W. Abdullah Concept of a three D.O.F spherical-joint gripper for industrial robots. 1-4 2013 ETFA https://doi.org/10.1109/ETFA.2013.6648121 conf/etfa/2013 db/conf/etfa/etfa2013.html#WeyrichA13