Optimal Control of Underactuated Manipulators via Actuation Redundancy. - Benedito C. O. Maciel; Marcel Bergerman; Marco H. Terra (ICRA, 2001)

Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy. - Benedito C. O. Maciel; Marco H. Terra; Marcel Bergerman (J. Field Robotics, 2003)