# Concentric Push–Pull Robots: Planar Modeling and Design

> Research article (IEEE Transactions on Robotics, 2021) · cited 47× · AI/ML

**Wikidata**: [openalex:W3199403611](https://www.wikidata.org/wiki/openalex:W3199403611)  
**Source**: https://4ort.xyz/entity/concentric-pushpull-robots-planar-modeling-and-design