Optimal rate allocation in kinematically-redundant manipulators-the dual projection method. - Ming Z. Huang; K. R. Hareendra Varma (ICRA, 1991)

A Jacobian Minor Based Algorithm For Rate Coordination Of Redundant Serial Chain Manipulators. - K. R. Hareendra Varma; Ming Z. Huang (IROS, 1992)

Analytic minimum-norm solution for rate coordination in redundant manipulators. - K. R. Hareendra Varma; Ming Z. Huang (J. Field Robotics, 1992)

Geometry-based efficient rata coordination for manipulators with kinematic redundancy. - K. R. Hareendra Varma; Ming Z. Huang (J. Field Robotics, 1995)