Specifying consistent control goals for kinematically defective manipulation systems

Domenico Prattichizzo, Antonio Bicchi. Specifying consistent control goals for kinematically defective manipulation systems. In Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA, April 22-28, 1996. pages 3532-3537, IEEE, 1996. [doi]

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