The Robotics Institute

Carnegie Mellon Robotics Institute

Menu

• About RI
• People
• Research
• Education
• Careers
• News & Media
• Events
• Giving

• RI History

• Contact Us

• Maps & Directions

• About this Site

• Faculty

• Adjunct Faculty

• Students

• Postdoctoral Fellows

• Project Staff

• Institute Staff

• Visitors

• Alumni

• All RI Members

• Research Guide 2005-2010

• Faculty Research Interests

• Research Centers

• Consortia

• Labs & Groups

• Projects

• Publications

• Academic Programs

• Admissions

• Policies and Forms

• Courses

• Student Services

• Student Life

• Academic Internships

• Faculty Positions

• Staff Positions

• Postdoctoral Positions

• Internships

• Visitors

• Employers Seeking Graduating Students

• Graduate Students Seeking Employment

• Official Press Releases

• Recent News

• Videos

• Events and Activities

• Talks and Seminars

• Robotics Funds

• How to Give

home > people

• 

• Research Interests

• Publications

Entire Site   People   Research   Publications   News & Media   Events
Advanced Search

Look in

Name    Email

Include

Former RI Members

•  

		S Desa Project Scientist, RI/Mech E No longer a member of RI.

Publications

A Global Approach for Using Kinematic Redundancy to Minimize Base Reactions of Manipulators C. L. Chung and S Desa tech. report CMU-RI-TR-89-09, Robotics Institute, Carnegie Mellon University, March, 1989 Details | pdf (747KB) | Copyrighted