Text this: Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots

 _    _      ___     __   __   _    _    __   _   
| \  / ||   / _ \\   \ \\/ // | || | || | || | || 
|  \/  ||  / //\ \\   \   //  | || | || | '--' || 
| .  . || |  ___  ||  / . \\  | \\_/ || | .--. || 
|_|\/|_|| |_||  |_|| /_//\_\\  \____//  |_|| |_|| 
`-`  `-`  `-`   `-`  `-`  --`   `---`   `-`  `-`