An Emerging Paradigm in Robot Architecture. - Chris Malcolm; Tim Smithers; John Hallam (IAS, 1989)

Symbol grounding via a hybrid architecture in an autonomous assembly system. - Chris Malcolm; Tim Smithers (Robotics Auton. Syst., 1990)

Qualitative transitions in object reorienting behaviour. 1. The effects of varying friction. - Graham E. Deacon; Mark W. Wright; Chris Malcolm (ICRA, 1997)

Qualitative transition in object reorienting behaviour. 2. The effects of varying the centre of mass. - Graham E. Deacon; Mark W. Wright; Chris Malcolm (IROS, 1997)