@misc{indiciae8cdadd870534,
  title = {A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators.},
  author = {Yunong Zhang and Shuzhi Sam Ge and Tong Heng Lee},
  year = {2004},
  doi = {10.1109/tsmcb.2004.830347},
  url = {https://pubmed.ncbi.nlm.nih.gov/15503508/},
  note = {Source identifier: 15503508}
}