@INPROCEEDINGS{ahmadzadeh2003controller,
	TITLE={Controller Design for Hyper-Redundant Manupulator Using Backbone Curve},
	AUTHOR={Ahmadzadeh, Seyed Reza and Hajabasi, Mohamad Ali},
	BOOKTITLE={{M}echanics, 8th International Conference on},
	PAGES={1--9},
	YEAR={2003},
    MONTH={May},
	ADDRESS={Tehran, Iran}
}