Directly Visualizing Spatial Freedom from Geometric Models. - Robert H. Sturges Jr.; Korntham Sathirakul; Schitt Laowattana (Int. J. Robotics Res., 1996)

Jamming conditions for multiple peg-in-hole assemblies. - Korntham Sathirakul; Robert H. Sturges Jr. (Robotica, 1998)