Motion planning of a redundant manipulator for the purpose of speed-up of the hands constant speed tasks. - Kousuke Okabe; Yasumichi Aiyama (SII, 2013)

Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator. - Kousuke Okabe; Yasumichi Aiyama (J. Robotics Mechatronics, 2015)