Design of developable surfaces using duality between plane and point geometries. - R. Mohan; C. Bodduluri; Bahran Ravani (Comput. Aided Des., 1993)

Lie Algebra and the Mobility of Kinematic Chains. - José M. Rico 001; Jaime Gallardo-Alvarado; Bahran Ravani (J. Field Robotics, 2003)