The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation. - David Williams 001; Oussama Khatib (ICRA (1), 1993)

Experiments in Multi-Grasp Manipulation. - David Williams 001; Oussama Khatib (ISER, 1993)

Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback. - David Williams 001; Oussama Khatib (ISER, 1995)

Robot planning and control. - Oussama Khatib; Sean Quinlan; David Williams 001 (Robotics Auton. Syst., 1997)