LABORATORY ROBOTICS AND AUTOMATION, vol. 6, no. 6, page. 301 - 311, 1994-12
IEEE CONTROL SYSTEMS MAGAZINE, vol. 14, no. 5, page. 10 - 19, 1994-10
JOURNAL OF MECHANICAL DESIGN, vol. 116, no. 3, page. 967 - 969, 1994-09
JOURNAL OF ROBOTIC SYSTEMS, vol. 11, no. 2, page. 117 - 128, 1994-01