Extended Operational Space Formulation for Serial-to-Parallel Chain (Branching) Mainpulators. - Jeffrey Russakow; Oussama Khatib; Stephen M. Rock (ICRA, 1995)

An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot. - Jeffrey Russakow; Stephen M. Rock; Oussama Khatib (ISER, 1995)