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I did some a few years ago with a router which were similar to hand carves, I just cheated and used the router to round over the tops and bottoms.
I used a router table witha fence and I just moved the fences back and took multiple passes till I had it curved over the way I wanted. If you don't have a router table I am sure you could do what you suggested using progressively larger bits so none have to remove a huge amount of material.
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