@article{Nakanishi_IJRR_2008,
  author =		 "Nakanishi, J. and Cory, R. and Mistry, M. and Peters, J. and Schaal, S.",
  year =			 "2008",
  title =			 "operational space control: a theoretical and emprical comparison",
  booktitle =		 "international journal of robotics research",
  key =			 "task space control, operational space control, redundancy resolution, humanoid robotics",
  URL =			 "http://www-clmc.usc.edu/publications/N/nakanishi-IJRR2008.pdf",
  number =		 "6",
  pages =		 "737-757",
  crossref =		 "p3236"
}

Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.