@misc{indiciaefb9c55cba123,
  title = {Singularity-robustness and task-prioritization in configuration control of redundant robots},
  author = {Seraji, H. and Colbaugh, R.},
  year = {1990},
  url = {https://ntrs.nasa.gov/citations/19920028943},
  note = {Source identifier: 19920028943}
}