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"Initial Experiments in Cooperative Manipulation from a Roving Platform", Proceedings of the ASME Winter Annual Meeting, Dallas, TX, November, 1990.
"Experiments in Cooperative Manipulation from a Flexibly-Mounted Platform", Mechatronics, vol. 4, no. 3, 1994.
Integrated Planning and Control for Cooperating, Flexible Robotic Manipulators, , no. 1, Stanford, CA 94305, Stanford University Aerospace Robotics Lab and Stanford Computer Science Robotics Laboratory, October, 1991.