Task-Dependent Synergies for Motion Planning of an Anthropomorphic Dual-Arm System

N. García, R. Suárez and J. Rosell, IEEE Transactions on Robotics, Vol 33, Issue 3, June 2017, pp. 756-764, (ISSN 1552-3098), DOI: 10.1109/TRO.2017.2676131