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@article{TUW-102314,
    author = {Prenninger, Johann and Gander, Helmut and Vincze, Markus},
    title = {A Model of Tumbling to Improve Robot Accuracy},
    journal = {Journal of Mechanism and Machine Theory},
    year = {1995},
    volume = {30},
    number = {6},
    pages = {849--859}
}