A model of the humanoid body for self collision detection based on elliptical capsules. - Chioniso Dube; Mohohlo Tsoeu; Jonathan Tapson (ROBIO, 2011)

Self collision avoidance for humanoids using circular and elliptical capsule bounding volumes. - Chioniso Dube (AFRICON, 2013)

Experimental validation of tip over stability of a tracked mobile manipulator. - Chioniso Dube (AFRICON, 2013)