@misc{indiciaee61e1cbe3ecd,
  title = {Efficient gradient projection optimization for manipulators with multiple degrees of redundancy},
  author = {Zghal, H. and Dubey, R. V. and Euler, J. A.},
  year = {1990},
  url = {https://ntrs.nasa.gov/citations/19910050556},
  note = {Source identifier: 19910050556}
}