@article{wang2013closedform,
 author = {Wang, Yuting and Artemiadis, Panagiotis},
 doi = {10.4172/2168-9695.1000110},
 journal = {Advances in Robotics & Automation},
 pages = {110},
 title = {Closed-Form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms},
 volume = {2},
 year = {2013}
}