# A Combined Planning Method Based on Biarc Curve and Bézier Curve for Concentric Cable-Driven Manipulators Working in Confined Environments

> Research article (IEEE/ASME Transactions on Mechatronics, 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4220755987](https://www.wikidata.org/wiki/openalex:W4220755987)  
**Source**: https://4ort.xyz/entity/a-combined-planning-method-based-on-biarc-curve-and-bezier-curve-for-concentric-cable-driven-manipulators-working-in-con