Reference:
Seyed Reza Ahmadzadeh, Mohamad Ali Hajabasi, "Controller Design for Hyper-Redundant Manipulator 
Using Backbone Curve", In Proc. 8th Intl Conf. of Mechanics, Tehran, Iran, 2003.

Bibtex Entry:
@inproceedings{ahmadzadeh2003controller,
  author={Ahmadzadeh, Seyed Reza and Hajabasi, Mohamad Ali},
  title={Controller Design for Hyper-Redundant Manipulator Using Backbone Curve},
  booktitle={Mechanics, 8th International Conference of},
  year={2003},
  pages={1--6},
  address={Tehran,Iran}
}