@inproceedings{dualquaternionbasedmodalkinematicsfor,
  title = {Dual Quaternion based modal kinematics for multisection continuum arms.},
  author = {Godage and I. S. and & Walker and I. D. (2015 and May).},
  year = {2015},
  booktitle = {2015 IEEE International Conference on Robotics and Automation (ICRA) 2015 5},
  url = {https://ieeexplore.ieee.org/abstract/document/7139375},
}