A new geometric notation for open and closed-loop robots. - Wisama Khalil; Jean-François Kleinfinger (ICRA, 1986)

Reducing the computational burden of the dynamic models of robots. - Wisama Khalil; Jean-François Kleinfinger; Maxime Gautier (ICRA, 1986)

Minimum operations and minimum parameters of the dynamic models of tree structure robots. - Wisama Khalil; Jean-François Kleinfinger (IEEE J. Robotics Autom., 1987)