@ARTICLE{
TITLE="A unified quadratic programming based dynamical system approach to joint torque optimization of physically constrained redundant manipulators",
AUTHOR="Yunong Zhang, Shuzhi Sam Ge, Tong Heng Lee",
YEAR="2004",
VOLUME="34",
NUMBER="5",
PAGES="2126-2132",
JOURNAL=" IEEE Transactions on Systems, Man, and Cybernetics, Part B"
}