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Task-directed inverse kinematics for redundant manipulators.. Journal of Intelligent and Robotic Systems, 6 (2-3): 241-261 (1992)A PC based configuration controller for dexterous 7-DOF arms., , and . IEEE Robotics Autom. Mag., 4 (3): 30-38 (1997)The Modular Telerobot Task Execution System for Space Telerobotics., , and . ICRA (3), page 524-530. IEEE Computer Society Press, (1993)Configuration control of 7 DOF arms., , and . ICRA, page 1195-1200. IEEE Computer Society, (1991)Merging Concurrent Behaviors On a Redundant Manipulator., and . ICRA (3), page 638-645. IEEE Computer Society Press, (1993)A PC-based configuration controller for dexterous 7-DOF arms., , and . ICRA, page 3689-3694. IEEE, (1996)Kinematic analysis of 7 DOF anthropomorphic arms., , and . ICRA, page 824-830. IEEE, (1990)