@inproceedings{GMB:98a,
        author={M. Goel and A. A. Maciejewski and V. Balakrishnan},
	title={Undetected Locked-Joint Failures in Kinematically Redundant
Manipulators: {A} Workspace Analysis},
        booktitle={Proc.\ Int.\ Conf.\ on Intelligent Robots and Systems (IROS)},
        year={1998},
        month = oct,
        address = {Victoria, B.C.},
        pages = {317-322}
}