A Robust Control Scheme for Dual-Arm Redundant Manipulators: Experimental Results. - Haipeng Xie; Iain J. Bryson; Farshid Shadpey; Rajnikant V. Patel (ICRA, 1999)

A collision-avoidance scheme for redundant manipulators: Theory and experiments. - Rajnikant V. Patel; Farshid Shadpey; Farzam Ranjbaran; Jorge Angeles (J. Field Robotics, 2005)