Frequency-Domain Consequences of Low-Velocity Friction: The Nonminimum-Phase Behavior of Geared Transmissions. - J. Ontañón-Ruiz; P. Ross McAree; Ron W. Daniel (Int. J. Robotics Res., 1998)

On the use of differential drives for overcoming transmission nonlinearities. - J. Ontañón-Ruiz; Ron W. Daniel; P. Ross McAree (J. Field Robotics, 1998)