出典: Mihoko Otake, Yoshiharu Kagami, Yasuo Kuniyoshi, Masayuki Inaba, and Hirochika Inoue. Inverse Kinematics of Gel Robots made of Electro-Active Polymer Gel. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp.3224-3229, 2002. (Figure 7)