@INPROCEEDINGS{Howard2007,
  author = {Matthew Howard and Sethu Vijayakumar},
  title = {Reconstructing Null-space Policies Subject to Dynamic Task Constraints
	in Redundant Manipulators},
  booktitle = {Workshop on Robotics and Mathematics (RoboMat)},
  year = {2007},
  month = {September},
}