@inproceedings{GMB:99b,
        author={M. Goel and A. A. Maciejewski and V. Balakrishnan and R. W. Proctor},
	title={Failure tolerant teleoperation of a kinematically redundant
manipulator: An experimental study},
   booktitle = {International Conference on Robotics and
       Automation},
   year      = {1999},
   month     = may,
   address   = {Detroit, MI}
   pages     = {874-880}
}