Designing Rotary Linkages for Polar Motions. - Aravind Baskar; Chang Liu 121; Mark M. Plecnik; Jonathan D. Hauenstein (IROS, 2021)

The Usage of Kinematic Singularities to Produce Periodic High-Powered Locomotion. - Chang Liu 121; Mark M. Plecnik (IROS, 2021)

Experimental Validation of the Usage of Kinematic Singularities to Produce Periodic High-Powered Motion. - Chang Liu 121; Mark M. Plecnik (ICRA, 2022)