@misc{150141,
  author = {Albert Wavering},
  title = {Manipulator Primitive Level Task Decompostion},
  year = {1988},
  month = {1988-10-31},
  publisher = {Technical Note (NIST TN), National Institute of Standards and Technology, Gaithersburg, MD},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820276},
  language = {en},
}