TY - CONF T1 - Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1996 A1 - D Prattichizzo A1 - A. Bicchi KW - Robot Arms KW - Robot Hands JF - Proc. IEEE Int. Conf. on Robotics and Automation ER -