@article{ben-gharbia_maciejewski_roberts_2015, title={Modifying the kinematic structure of an anthropomorphic arm to improve fault tolerance}, DOI={10.1109/icra.2015.7139381}, journal={2015 IEEE International Conference on Robotics and Automation (ICRA)}, author={Ben-Gharbia, K. M. and Maciejewski, A. A. and Roberts, R. G.}, year={2015}}