Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization
Y. Nakamura
Addison-Wesley, 1991
ISBN 0-201-15198-7
(no longer printed, contact me for reference)

Building the Robot Brain
Iwanami Lecture Series
World of Physics: Physics and Mathematics 1
Yoshihiko Nakamura (Japanese)
Iwanami, 2003
ISBN 4-00-011151-5

Robot Motion
Iwanami Lecure Series: Robotics 2
Masaru Uchiyama and Yoshihiko Nakamura (Japanese)
Iwanami, 2004
ISBN 4-00-011242-2