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Experiments in Two-Cooperating-Arm Manipulation from a Platform with Unknown Motion, , Stanford, CA 94305, Stanford University, January, 1992.
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.
"Experiments in Cooperative Manipulation from a Flexibly-Mounted Platform", Mechatronics, vol. 4, no. 3, 1994.