Nonlinear Proportional and Derivative Control for High Disturbance Rejection and High Gain Force Control. - Yangming Xu; Donghai Ma; John M. Hollerbach (ICRA (1), 1993)

Gravity Based Autonomous Calibration for Robot Manipulators. - Donghai Ma; John M. Hollerbach; Yangming Xu (ICRA, 1994)

Force and Contact Transient Control Using Nonlinear PD Control. - Yangming Xu; John M. Hollerbach; Donghai Ma (ICRA, 1994)

Identifying mass parameters for gravity compensation and automatic torque sensor calibration. - Donghai Ma; John M. Hollerbach (ICRA, 1996)