Manja V. Kircanski Nenad Kircanski Dj. Lekovic Miomir Vukobratovic An Experimental Study of Resolved Acceleration Control in Singularities: Damped Least-Squares Approach. 2686-2691 1994 ICRA db/conf/icra/icra1994-4.html#KircanskiKLV94