@article{GMB:05,
        author={M. Goel and A. A. Maciejewski and V. Balakrishnan},
	title={Analyzing unidentified locked-joint failures in kinematically redundant
manipulators},
  journal = {Journal of Robotic Systems},
  volume = 22,
  number = 1,
  pages = {15-29},
  month = jan,
  year = 2005
}