Youshen Xia Gang Feng Jun Wang A primal-dual neural network for online resolving constrained kinematic redundancy in robot motion control. 54-64 2005 35 IEEE Transactions on Systems, Man, and Cybernetics, Part B 1 http://dx.doi.org/10.1109/TSMCB.2004.839913 db/journals/tsmc/tsmcb35.html#XiaFW05