An Orienting Robot for Feeding Workpieces Stored in Bins. - John R. Birk; Robert B. Kelley; Henrique A. S. Martins (IEEE Trans. Syst. Man Cybern., 1981)

A Robot System Which Acquires Cylindrical Workpieces from Bins. - Robert B. Kelley; John R. Birk; Henrique A. S. Martins; Richard Tella (IEEE Trans. Syst. Man Cybern., 1982)

Matched Filters for Bin Picking. - Jean-Daniel Dessimoz; John R. Birk; Robert B. Kelley; Henrique A. S. Martins; Chi Lin (IEEE Trans. Pattern Anal. Mach. Intell., 1984)

FLAIR-robotic printed circuit board assembly workcell. - Sidney Liebes; William Gong; Alexander Gray; Henrique A. S. Martins; Bruce Modesitt; Richard Tella (ICRA, 1988)

Real-time motion scheduling for a SMALL workcell. - Gerardo Pardo-Castellote; Henrique A. S. Martins (ICRA, 1991)