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Using this mode of operation, we were able to demonstrate dual-arm knot tying in confined spaces.

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Figure 3: workspace of a single-segment DDU.

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Figure 4: dual-arm knot tying in confined spaces.

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Using this mode of operation, we were able to demonstrate dual-arm knot tying in confined spaces.

Description: We implement actuation redundancy to optimize the load distribution on the backbones of the snake-like unit. The following movie shows the 2-segment DDU of figure 1 and figure 2 performing rotation about its central backbone.

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