Zachary Hawks Chase G. Frazelle Keith E. Green Ian D. Walker Motion Planning for a Continuum Robotic Mobile Lamp: Defining and Navigating the Configuration Space. 2559-2566 2019 IROS https://doi.org/10.1109/IROS40897.2019.8967841 conf/iros/2019 db/conf/iros/iros2019.html#HawksFGW19