Peak torque reduction with redundant manipulators. Li, D., Goldenberg, A. A., & Zu, J. W. In ICRA, pages 1775-1780, 1996. IEEE.
Peak torque reduction with redundant manipulators. [link]Link  Peak torque reduction with redundant manipulators. [link]Paper  bibtex   
@inproceedings{conf/icra/LiGZ96,
  author = {Li, Degao and Goldenberg, Andrew A. and Zu, Jean W.},
  booktitle = {ICRA},
  crossref = {conf/icra/1996},
  ee = {https://doi.org/10.1109/ROBOT.1996.506969},
  interhash = {8c5a8a046c011ee0700b7957ffe4ab09},
  intrahash = {24e4b302d4dd6d7fde6a4f0ca4f56531},
  isbn = {0-7803-2988-0},
  pages = {1775-1780},
  publisher = {IEEE},
  title = {Peak torque reduction with redundant manipulators.},
  url = {http://dblp.uni-trier.de/db/conf/icra/icra1996.html#LiGZ96},
  year = 1996
}
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