Pipeline/Parallel algorithms for the jacobian and inverse dynamics computations. - David E. Orin; H. H. Chao; Karl W. Olson; W. W. Schrader (ICRA, 1985)

Control store implementation of a high performance VLSI CISC. - J. H. Chang; H. H. Chao; K. Lewis; M. Holland (MICRO, 1988)