\input zb-basic
\input zb-ioport
\iteman{io-port 71000809}
\itemau{Demers, David; Kreutz-Delgado, Kenneth}
\itemti{Global regularization of inverse kinematics for redundant manipulators}
\itemso{NIPS, 255-262 (1992).}
\itemcc{}
\itemut{}
\itemli{http://nips.djvuzone.org/djvu/nips05/0255.djvu}
\end