@article{ben-gharbia_maciejewski_roberts_2014, title={A Kinematic Analysis and Evaluation of Planar Robots Designed From Optimally Fault-Tolerant Jacobians}, volume={30}, DOI={10.1109/tro.2013.2291615}, number={2}, journal={IEEE Transactions on Robotics}, author={Ben-Gharbia, Khaled M. and Maciejewski, Anthony A. and Roberts, Rodney G.}, year={2014}, pages={516–524}}