Peters, J Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://link.springer.com/content/pdf/10.1007%2Fs10514-007-9051-x.pdf (Publisher version)
Peters, J., Mistry, M., Udwadia, F., Nakanishi, J., & Schaal, S. (2007). A unifying framework for robot control with redundant DOFs. Autonomous Robots, 24(1), 1-12. doi:10.1007/s10514-007-9051-x.