Ferdinando A. Mussa-Ivaldi, Neville Hogan. Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses. In Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, USA, May 14-19, 1989. pages 283-288, IEEE, 1989. [doi]
Abstract is missing.