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"Experimental Object-Level Strategic Control with Cooperating Manipulators", Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December, 1989.
"Experimental Object-Level Strategic Control With Cooperating Manipulators", The International Journal of Robotics Research, vol. 12, no. 4, pp. 338-350, August, 1993.
"Experiments in Cooperative Manipulation: A System Perspective", Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, NASA, February, 1989.
"Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results", Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, pp. 1076-1083, April, 1989.
"Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results", IEEE Journal of Robotics and Automation,, vol. 8, no. 3, June, 1992.
"Object-Based Task-Level Control: A Hierarchical Control Architecture for Remote Operation of Space Robots", Proceedings of the AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space, Houston, TX, pp. 264-273, March, 1994.