@misc{150291,
  author = {J Fiala},
  title = {Manipulator Servo Level Task Decomposition},
  year = {1988},
  month = {1988-10-31},
  publisher = {Technical Note (NIST TN), National Institute of Standards and Technology, Gaithersburg, MD},
  doi = {https://doi.org/10.6028/nist.tn.1255},
  language = {en},
}