# A Geometric and Unified Approach for Modeling Soft-Rigid Multi-Body Systems with Lumped and Distributed Degrees of Freedom

> Research article (2018 IEEE International Conference on Robotics and Automation (ICRA), 2018) · cited 49× · AI/ML

**Wikidata**: [openalex:W2890561284](https://www.wikidata.org/wiki/openalex:W2890561284)  
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