Operator approach to recursive Jacobian inversion and pseudoinversion. - Kenneth Kreutz-Delgado; Daryush Agahi; David DeMers (ICRA, 1991)

A Star Topology Dynamic Model for Efficient Simulation of Multilimbed Robotic Systems. - Daryush Agahi; Kenneth Kreutz-Delgado (ICRA, 1994)

Approximate dynamic decoupling of multilimbed robotic systems. - Daryush Agahi; Kenneth Kreutz-Delgado (IROS (3), 1995)

A recursive singularity-robust Jacobian generalized inverse. - Kenneth Kreutz-Delgado; Daryush Agahi (IEEE Trans. Robotics Autom., 1995)