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AFOSR Final Report of the Center For Automation and Manufacturing Science on Basic Research in Robotics, , Stanford, CA 94305, Stanford University Aerospace Robotics Lab, October, 1989.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems, , no. 8, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, February, 1989.
"Computed Torque Control of a Free-Flying Cooperating-Arm Robot", Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February, 1989.
"Experimental Integration of Planning in a Distributed Control System", Experimental Robotics III: The Third International Symposium, vol. 200, Kyoto, Japan, Springer-Verlag, pp. 50-61, October, 1993.
Proximate Time-Optimal Parameterization of Robot Paths, : Stanford University Aerospace Robotics Lab, April, 1992.
"Experiments with a Dual-Armed, Cooperative, Flexible-Drivetrain Robot System", Proceedings of the International Conference on Robotics and Automation, Atlanta, GA, IEEE, IEEE Computer Society, pp. 601-608, May, 1993.
"Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator", International Journal of Robotics Research, vol. 6, no. 4, pp. 3-19, Winter, 1987.
"End-point Force Control of a Very Flexible Manipulator with a Fast End Effector", Proceedings of the ASME Winter Annual Meeting, vol. 3, Anaheim, CA, pp. 1-9, December, 1986.
"End Point Position and Force Control of a Flexible Manipulator with a Quick Wrist", Proceedings of the AIAA Guidance, Navigation and Control Conference, Williamsburg, VA, pp. 41-49, August, 1986.