Jan Peters Michael Mistry Firdaus E. Udwadia Jun Nakanishi Stefan Schaal A unifying framework for robot control with redundant DOFs. 1-12 2008 24 Auton. Robots 1 http://dx.doi.org/10.1007/s10514-007-9051-x db/journals/arobots/arobots24.html#PetersMUNS08