Global versus local optimization in redundancy resolution of robotic manipulators

Self-Motion Representation and Global Path Planning Optimization for Redundant Manipulators through Topology-Based Discretization

Journal of Intelligent and Robotic Systems

Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method

Journal of Intelligent and Robotic Systems

Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots

Journal of Intelligent and Robotic Systems

Resolving kinematic redundancy of a robot using a quadratically constrained optimization technique

Robotica

Effective secondary task execution of redundant manipulators

Robotica

Operational Space Control: A Theoretical and Empirical Comparison

International Journal of Robotics Research

The nonholonomic redundancy of second-order nonholonomic mechanical systems

Robotics and Autonomous Systems