Intrinsic vector-valued symmetric form for simple mechanical control systems in the nonzero velocity setting. - Jason Nightingale; Richard Hind; Bill Goodwine (ICRA, 2008)

A Stopping Algorithm for Mechanical Systems. - Jason Nightingale; Richard Hind; Bill Goodwine (WAFR, 2008)

The effect of dynamic singularities on robotic control and design. - Bill Goodwine; Jason Nightingale (ICRA, 2010)

An algorithm for stopping a class of underactuated nonlinear mechanical robotic systems. - Jason Nightingale; Bill Goodwine (MED, 2013)