@article{hauser2018global,
    title        = {{Global Redundancy Resolution via Continuous Pseudoinversion of the Forward Kinematic Map}},
    author       = {Hauser, Kris and Emmons, Scott},
    year         = {2018},
    journal      = {IEEE Transactions on Automation Science and Engineering},
    volume       = {15},
    number       = {3},
    pages        = {932--944},
    doi          = {10.1109/TASE.2017.2757123}
}