Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references. and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse kinematicsframework allows tasks to be considered in a prioritized order by projecting task velocities through the nullspaces of higherpriority tasks. This pape... https://www.roneverhart.com/Pitkin-Ave-east-toward-Stone-Avenue-Brownsville-Mother-Gaston-Blvd-1964/