@article{Galicki:1996,
  author  = "M. Galicki and P. Gawłowicz and K. Łasiński",
  title   = "Minimum - energetic motions for redundant manipulators in work spaces including obstacles",
  journal = "Archive of Mechanical Engineering",
  volume  = "Vol. 43",
  number  = "no. 4",
  pages   = "313--327",
  year    = "1996",
}