@article{Izumi_1997,
title={Optimal Trajectory for Minimizing Dissipative Energy of a Horizontally Articulated Manipulator with Energy Regeneration and the Effect of Operating Time.},
volume={15},
ISSN={1884-7145},
url={http://dx.doi.org/10.7210/jrsj.15.601},
DOI={10.7210/jrsj.15.601},
number={4},
journal={Journal of the Robotics Society of Japan},
publisher={The Robotics Society of Japan},
author={Izumi,
Teruyuki and Boyagoda,
Prasanna and Satoh,
Taiji},
year={1997},
pages={601–607} }