@conference {deshpande2007method,
	title = {A method to characterize and exploit actuation redundancy in mobility and manipulation},
	booktitle = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on},
	year = {2007},
	pages = {3515{\textendash}3521},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Deshpande, Ashish D. and Luntz, Jonathan E.}
}
