Christian Schumacher Espen Knoop Moritz Bächer A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots With Kinematic Loops. 943-950 2021 6 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2021.3056030 db/journals/ral/ral6.html#SchumacherKB21