@inproceedings{White2009,
  title={{Right Angle Tetrahedron Chain Externally-actuated Testbed (RATCHET): A Shape Changing System}},
  author={P. J. White and C. E. Thorne and M. Yim},
  booktitle={Proceedings of IDETC/CIE},
  year={2009},
  address={San Diego, CA, USA}
}