LI Shiqi (李世其), LI Xiao∗ (李肖), HAN Ke (韩可), XIONG Youjun (熊友军), XIE Zheng (谢铮), CHEN Jinliang (陈金亮) . Path Planning and Optimization of Humanoid Manipulator in Cartesian Space[J]. Journal of Shanghai Jiaotong University(Science), 2022 , 27(5) : 614 -620 . DOI: 10.1007/s12204-022-2416-7

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