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The Design and Control of a Two-Armed, Cooperating, Flexible-Drivetrain Robot System, , Stanford, CA 94305, Stanford University, December, 1993.
"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator", IEEE Transactions on Robotics and Automation, vol. 5, no. 4, pp. 418-425, August, 1989.
"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator", Proceedings of the American Control Conference, Seattle, WA, pp. 818-824, June, 1986.
"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.