Stability analysis of wave-crab gaits of a quadruped. - Chang-De Zhang; Shin-Min Song (J. Field Robotics, 1990)

Turning gait of a quadrupedal walking machine. - Chang-De Zhang; Shin-Min Song (ICRA, 1991)

Turning gaits of a quadrupedal walking machine. - Chang-De Zhang; Shin-Min Song (Adv. Robotics, 1992)

Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions. - Chang-De Zhang; Shin-Min Song (J. Field Robotics, 1992)

Forward kinematics of walking machines with pantograph legs based on selections of independent joints. - Chang-De Zhang; Shin-Min Song (J. Field Robotics, 1992)

An efficient method for inverse dynamics of manipulators based on the virtual work principle. - Chang-De Zhang; Shin-Min Song (J. Field Robotics, 1993)