# Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties

> Research article (Robotics and Autonomous Systems, 2015) · cited 63× · AI/ML

**Wikidata**: [openalex:W1971893566](https://www.wikidata.org/wiki/openalex:W1971893566)  
**Source**: https://4ort.xyz/entity/discrete-time-redundancy-resolution-at-the-velocity-level-with-acceleration-torque-optimization-properties