@incollection{wieber:hal-01418462, TITLE = {{Geometric and numerical aspects of redundancy}}, AUTHOR = {Wieber, Pierre-Brice and Escande, Adrien and Dimitrov, Dimitar and Sherikov, Alexander}, URL = {https://inria.hal.science/hal-01418462}, BOOKTITLE = {{Geometric and Numerical Foundations of Movements}}, PUBLISHER = {{Springer}}, SERIES = {Springer Tracts in Advanced Robotics}, VOLUME = {117}, PAGES = {67-85}, YEAR = {2017}, MONTH = May, DOI = {10.1007/978-3-319-51547-2\_4}, PDF = {https://inria.hal.science/hal-01418462/file/wieber.pdf}, HAL_ID = {hal-01418462}, HAL_VERSION = {v1}, }