H. Zghal

Coordinated-motion control of heavy-duty industrial machines with redundancy

Nariman Sepehri, Peter D. Lawrence, Navab Singh, 1995, Robotica.

Efficient gradient projection optimization for manipulators with multiple degrees of redundancy

Rajiv V. Dubey, James A. Euler, H. Zghal, 1990, Proceedings., IEEE International Conference on Robotics and Automation.