A catalog of inverse-kinematics planners for underactuated systems on matrix groups

Article: 
A catalog of inverse-kinematics planners for underactuated systems on matrix groups
Authors: 
S. Martínez, J. Cortés, F. Bullo
Journal: 
Journal of Geometric Mechanics
Volume: 
1 (4)
Pages: 
445-460
Year: 
2009
URL: