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NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems,
, no. 3, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, August, 1986.
"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.
"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator",
Proceedings of the American Control Conference, Seattle, WA, pp. 818-824, June, 1986.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems,
, no. 5, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, August, 1987.
"Experiments in Advanced Control Concepts for Space Robotics: An Overview of the Stanford Aerospace Robotics Laboratory",
Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Keystone, CO, American Astronautical Society, pp. 417-434, February, 1987.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems,
, no. 4, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, February, 1987.
DARPA Annual Report 1987,
, no. 1, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, October, 1987.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems,
, no. 7, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, August, 1988.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems,
, no. 6, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, February, 1988.
"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.
"Computed Torque Control of a Free-Flying Cooperating-Arm Robot",
Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February, 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.
Experiments in End-Point Control of a Flexible Robot with a Mini-Manipulator,
, Stanford, CA 94305, Stanford University, May, 1989.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems,
, no. 9, Stanford, CA 94305, Stanford University Aerospace Robotics Lab, August, 1990.
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.
Experiments in Cooperative-Arm Object Manipulation with a Two-Armed Free-Flying Robot,
, Stanford, CA 94305, Stanford University, October, 1990.
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.
"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.
"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.
"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.
"A General Contact Model for Dynamically-Decoupled Force/Motion Control",
Preprints of the ISER Proceedings, 1997.
"Uncertainty Model Unfalsification With Simulation",
Proceedings 1998 American Control Conference, Philadelphia, PA, American Automatic Control Council, June, 1998.
"Direct Unfalsified Control Design - Solution Via Convex Optimization",
Proceedings 1999 American Control Conference, San Diego, CA, American Automatic Control Council, June, 1999.
"Kinodynamic Motion Planning Amidst Moving Obstacles",
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April, 2000.
"Free-Climbing with a Multi-Use Robot",
Proceedings of the 2004 International Symposium on Experimental Robotics, Singapore, June, 2004.