On the synthesis of compliant mechanisms. - Roger W. Brockett; Ann Stokes (ICRA, 1991)

A Geometrical Formulation of the Dynamical Equations Describing Kinematic Chains. - Roger W. Brockett; Ann Stokes; Frank C. Park 001 (ICRA (2), 1993)

Dynamics of Kinematic Chains. - Ann Stokes; Roger W. Brockett (Int. J. Robotics Res., 1996)