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"A New Control Structure for Free-Flying Space Robots", i-SAIRIS: International Symposium on Artificial Intelligence, Robotics, and Automation in Space, vol. 2, Toulouse, France, October, 1992.
"Generalized Object Control and Assembly for Space Robots", Proceedings of the ASCE: Robotics for Challenging Environments, Albuquerque, NM, February, 1994.
"An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot", Proc. of the 4th Int'l Symp. on Experimental Robotics (ISER), Stanford, CA, June, 1995.
Experiments in Manipulation and Assembly by Two-Arm, Free-Flying Space Robots, , Stanford, CA 94305, Stanford University, December, 1995.