Tamim Asfour, Rüdiger Dillmann. Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem. In 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003. pages 1407-1412, IEEE, 2003. [doi]
Abstract is missing.