Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators. - Alireza Motahari; Hassan Zohoor; Moharam Habibnejad Korayem (Robotica, 2013)

A new motion planning method for discretely actuated hyper-redundant manipulators. - Alireza Motahari; Hassan Zohoor; Moharam Habibnejad Korayem (Robotica, 2017)

Solving the inverse kinematics problem of discretely actuated hyper-redundant manipulators using the multi-module searching method. - Alireza Motahari (Robotica, 2024)