Implementation of a discontinuous control law on a robot during collision with a stiff environment. - David M. Lokhorst; James K. Mills (ICRA, 1990)

Experimental results in manipulator contact task control. - James K. Mills; David M. Lokhorst (ICRA, 1991)

Experimental Analysis Of A Centralized/decentralized Controller For Robotic Manipulators. - George Yanovski; Edward J. Davison; David M. Lokhorst; James K. Mills (IROS, 1992)

Control of Robotic Manipulators During General Task Execution: A Discontinuous Control Approach. - James K. Mills; David M. Lokhorst (Int. J. Robotics Res., 1993)

Stability and control of robotic manipulators during contact/noncontact task transition. - James K. Mills; David M. Lokhorst (IEEE Trans. Robotics Autom., 1993)

Closed-loop kinematic calibration of the RSI 6-DOF hand controller. - John M. Hollerbach; David M. Lokhorst (IEEE Trans. Robotics Autom., 1995)