@article{ben-gharbia_maciejewski_roberts_2014, title={An example of a seven joint manipulator optimized for kinematic fault tolerance}, DOI={10.1109/smc.2014.6974009}, journal={2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)}, author={Ben-Gharbia, Khaled M. and Maciejewski, Anthony A. and Roberts, Rodney G.}, year={2014}}