Attaining impedance control objectives using Hinfinity design methods. - Jim D. Chapel; Renjeng Su (ICRA, 1991)

Coupled stability characteristics of nearly passive robots. - Jim D. Chapel; Renjeng Su (ICRA, 1992)

Quantitative Compliant Control. - Dale A. Lawrence; Jim D. Chapel (ICRA (1), 1993)

Performance Trade-Offs for Hand Controller Design. - Dale A. Lawrence; Jim D. Chapel (ICRA, 1994)

Compliance control safety: An architecture-independent analysis. - Dale A. Lawrence; Jim D. Chapel (J. Field Robotics, 1994)