Point-to-point motion control of two-arm manipulators. - E. Tabarah; Beno Benhabib; G. Zak (ICRA, 1988)

Position control of two-arm manipulators for coordinated point-to-point motion. - Beno Benhabib; G. Zak; E. Tabarah (J. Field Robotics, 1988)

Optimal motion coordination of two robots - a polynomial parameterization approach to trajectory resolution. - E. Tabarah; Beno Benhabib; Robert G. Fenton (J. Field Robotics, 1994)