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"Toward an improved understanding of thruster dynamics for underwater vehicles",
IEEE Journal of Oceanic Engineering, vol. 20, no. 4, pp. 354-361, October, 1995.
"OTTER: A Testbed Submersible for Robotics Research",
Proceedings of the ANS 6th Topical Meeting on Robotics and Remote Systems, Monterey, CA, American Nuclear Society, pp. 587-594, February, 1995.
"Toward an improved understanding of thruster dynamics for underwater vehicles",
Proceedings of AUV '94, Cambridge, MA, OES/IEEE, pp. 340-352, July, 1994.
Experiments in High-Performance Control of a Multi-Link Flexible Manipulator with a Mini-Manipulator,
, Stanford, CA 94305, Stanford University, April, 1994.
"End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Dynamic Coupling Issues",
Proceedings of the ASME Winter Annual Meeting, Anaheim, CA, November, 1992.
"Combined Camera and Vehicle Tracking of Underwater Objects",
Proceedings of Intervention/ROV '92, San Diego, CA, June, 1992.
"End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Initial Experiments",
Proceedings of the American Control Conference, Chicago, IL, June, 1992.
"Optimal Control of a Two-Link Flexible Manipulator Using Time-Varying Controller Gains: Initial Experiments",
Proceedings of the American Astronautical Society Guidance and Control Conference, Keystone, CO, February, 1992.
"Stanford aerospace robotics laboratory research overview",
Proceedings of the Space Operations, Applications and Research Symposium, Houston, TX, August, 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.
AFOSR Annual Report on Research on Fundamental Research in Modelling and Control of Multi-Link Flexible Articulated Structures,
, no. 1, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, October, 1990.
"End-Point Controller Design For An Experimental Two-Link Flexible Manipulator Using Convex Optimization",
Proceedings of the American Control Conference, San Diego, CA, May, 1990.
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.
"Experiments in Force Control of Robotic Manipulators",
Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, IEEE, IEEE Computer Society, pp. 695-702, April, 1986.
"Design of Low-Order Compensators using Parameter Optimization",
Automatica, vol. 21, no. 3, pp. 315-318, 1985.
