Snake Robot Terminology

Redundancy - When a manipulator can reach a specified position with more than one configuration of the linkages , the manipulator is said to be redundant . [1, good paper : 2]

Bibliography
1. McKerrow, Book "Introduction to Robotics"
2. E . Sahin Conkur and Rob Buckingham, "Clarifying the definition of redundancy as used in robotics", Robotica (1997) volume 15 , pp 583 – 586
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