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  author =		 "Nakanishi, J. and Cory, R. and Mistry, M. and Peters, J. and Schaal, S.",
  year =		 "2005",
  title =		 "Comparative experiments on task space control with redundancy resolution",
  booktitle =		 "IEEE International Conference on Intelligent Robots and Systems (IROS 2005)",
  key =			 "manipulator dynamics
redundant manipulators
space optimization
dynamical decoupling
humanoid robots
inverse kinematics
motor coordination
redundancy resolution
robot dynamics
seven-degree-of-freedom anthropomorphic robot arm
task space control
dynamical d",
  URL =			 "",
  pages =		 "3901-3908",
  crossref =		 "p2007"

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