Parameterized descriptions of the joint space obstacles for a 5R closed chain robot. - J. R. Dooley; J. Michael McCarthy (ICRA, 1990)

Spatial rigid body dynamics using dual quaternion components. - J. R. Dooley; J. Michael McCarthy (ICRA, 1991)

On the Geometric Analysis of Optimum Trajectories for Cooperating Robots Using Dual Quatemion Coordinates. - J. R. Dooley; J. Michael McCarthy (ICRA (1), 1993)

A Strategy for Fine Motion Manipulation of Robots Using Kinematic Constraints. - J. R. Dooley (ICRA, 1994)