Wenshuo Li Bin Liang 0001 Boyang Lin Junxiang Li Wenfu Xu Pose-Shape Unified Planning of Cable-driven Serial Manipulators based on Multiple Arm-Angle Construction. 1-6 2023 ROBIO https://doi.org/10.1109/ROBIO58561.2023.10354929 conf/robio/2023 db/conf/robio/robio2023.html#LiLLLX23