Yuanwei Chua, Keng-Peng Tee, Rui Yan. Singularity robust inverse kinematics for a humanoid robot with minimum energy configuration and self-collision avoidance. In Dinesh Manocha, Marianne Winslett, editors, Proceedings of the Workshop at SIGGRAPH Asia, WASA 2012, Singapore, November 26-27, 2012. pages 113-118, ACM, 2012. [doi]
Abstract is missing.